Control laws, tasks and procedures with ORCCAD: application to the control of an underwater arm

Task level specification and formal verification of robotics control systems: State of the art and case study

“…A few studies such as those by Coste-Manie Á re et al 1995) or Simon et al (1996) verify explicitly some properties. However, the interested reader may also consult Kalavanisi et al (1995) , where several approaches of control architecture are described, some of them allowing di erent types of veri® cation potentially to be performed.…”

“…The approach has been already used with various robotics systems such as robot-arms (Kapellos 1994, Kapellos et al 1997), a wheeled mobile robot (Pissard-Gibollet et al 1995) or underwater vehicles or manipulation systems (Coste-Manie Á re et al 1995, Simon et al 1996. The speci® cation aspects and the formal veri® ction capabilities provided by the Orccad will be demonstrated using the following realworld experiment.…”

Comparison of null-space and minimal null-space control algorithms

“…We used inertia parameters, damping and friction parameters as published previously. 8,26 The sampling time in our experiments was 0.002 s. Again, the task of the robot was to track a line with speed 0.2 m/s. In this experiment, only positions were considered in the primary task.…”

ORCCAD: software engineering for real-time robotics. A technical insight

“…The formal definition of a robotic action is a key point in the ORCCAD approach . For example , let us consider an inspection procedure to be achieved by an underwater manipulation system (Figure 1) , described in details in another paper : 6 the goal of the procedure is to control the motions of an arm fitted on an underwater vehicle . The two subsystems are controlled separately but must be coordinated .…”