A mulitmodel robotic control law modelled and implemented with the CSP/CT framework


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Hilderink, Gerald H. and Jovanovic, Dusko S. and Broenink, Jan F. (2003) A mulitmodel robotic control law modelled and implemented with the CSP/CT framework. In: Communicating Process Architectures 2003, September 2003, University of Twente, Enschede (pp. pp. 315-334).

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Abstract:We use several formal methodologies for developing control applications at our Control Engineering research group. An important methodology we use for designing and implementing control software architecture is based on CSP concepts. These concepts allow us to glue multidisciplinary activities together and allow for formal stepwise refinement from design down to its implementation. This paper illustrates a trajectory and shows the usefulness of CSP diagrams for a simple mechatronic system. The simulation tool 20-SIM is used for creating the control laws and our CTC++ package is used for coding in C++.
Item Type:Conference or Workshop Item
Copyright:© 2003 IOS Press
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:http://purl.utwente.nl/publications/45675
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