A multimodal robotic control law modelled and implemented by the CSP - GML/CT framework
Authors: Hilderink, Gerald H., Jovanovic, Dusko S., Broenink, Jan F.
We use several formal methodologies for developing control applicationsat our Control Engineering research group. An important methodology we use fordesigning and implementing control software architecture is based on CSP concepts.These concepts allow us to glue multidisciplinary activities together and allow forformal stepwise refinement from design down to its implementation. This paperillustrates a trajectory and shows the usefulness of CSP diagrams for a simplemechatronic system. The simulation tool 20-SIM is used for creating the controllaws and our CTC++ package is used for coding in C++.
Communicating Process Architectures 2003, Jan F. Broenink, Gerald H. Hilderink, 2003, pp 315 - 334 published by IOS Press, AmsterdamFiles: PDF
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