Diagrammatic physical robot models

Area of Science:

• Robotics
• Software Engineering
• Control Systems

Background:

• Simulation is crucial in robotics but faces challenges with development time, standardization, and portability.
• Existing tools often lack a unified approach for modeling both robotic platforms and their control software.

Purpose of the Study:

• To introduce RoboSim, a tool-independent, domain-specific language for modeling robotic platforms and controllers.
• To present a novel notation for specifying physical models using block diagrams, integrated with software models.
• To enable automatic generation of simulations and mathematical models for robotic systems.

Main Methods:

• Developed RoboSim as a profile of UML/SysML, incorporating time primitives, differential equations, and mathematical semantics.
• Introduced a diagrammatic notation for physical models (block diagrams) linked to platform-independent software models.
• Defined validation rules for well-formed models and a model-to-model transformation to common simulator formats.

Main Results:

• A modular and extensible diagrammatic notation for explicit specification of physical behaviors in robotic systems.
• A set of validation rules to ensure the integrity and correctness of RoboSim models.
• Successful transformation of RoboSim models to formats compatible with multiple simulators, facilitating broader adoption.

Conclusions:

• RoboSim addresses the limitations of current robotics simulation tools by providing a standardized, portable, and efficient modeling approach.
• The integration of physical and software models through RoboSim enables automated simulation and mathematical analysis, advancing robotic system development.