Reusable hybrid force-velocity controlled motion specifications with executable Domain Specific Languages

Klotzbücher, Markus; Smits, Ruben; Bruyninckx, Herman; Schutter, Joris De

doi:10.1109/iros.2011.6094782

Cited by 18 publications

(19 citation statements)

References 9 publications

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“…Either to generate different artifacts like visualization, computational routines and glue code [23], or executable code for different programming languages or software platforms [10,11,25].…”

Section: Discussionmentioning

confidence: 99%

“…A number of the surveyed publications evaluated the semantics or the generated artifacts. A surprising yet positive outcome of the analysis was, that quite a number of the DSLs in this domain are evaluated not only in simulation, but on real hardware [26,14,18,13], and even on different platforms [19,11].…”

Section: Discussionmentioning

confidence: 99%

“…Qualitative evaluation is often done by conceptual discussions based on examples, e.g. portability of the semantics to different platforms [14,19,11]. Laet et al [21] for example model some typical use-cases and show how common errors can be avoided by using its proposed semantics.…”

Section: Discussionmentioning

confidence: 99%

“…This approach demands advanced Motion Control 7 abilities in order to cope with uncertainties in the environment and fulfill constraints such as force-limits which corresponds to roughly to Part A Chapter 7 (Force Control) in the Handbook for Robotics. Example DSLs for this task are TFF [11] and iTaSC [12]. The presented capabilities all need to be integrated in an overall Architecture 8 with Components 9 as the basic building blocks which are preferable re-usable also for other applications.…”

Section: Domain Analysismentioning

confidence: 99%

“…Some of the DSLs in this survey target a certain framework or environment, but come with exchangeable generators to explicitly allow re-use of the DSL and its concepts in different frameworks or environments as discussed above. Klotzbücher et al [11] make the platform explicit, by distinguishing between platform-independent and platform-specific models. 3.…”

mentioning

confidence: 99%

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A Survey on Domain-Specific Languages in Robotics

Nordmann

Hochgeschwender

Wrede

2014

Lecture Notes in Computer Science

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Abstract. The design, simulation and programming of robotics systems is challenging as expertise from multiple domains needs to be integrated conceptually and technically. Domain-specific modeling promises an efficient and flexible concept for developing robotics applications that copes with this challenge. It allows to raise the level of abstraction through the use of specific concepts that are closer to the respective domain concerns and easier to understand and validate. Furthermore, it focuses on increasing the level of automation, e.g. through code generation, to bridge the gap between the modeling and the implementation levels and to improve the efficiency and quality of the software development process. Within this contribution, we survey the literature available on domain-specific (modeling) languages in robotics required to realize a state-of-the-art real-world example from the RoboCup@Work competition. We classify 41 publications in the field as reference for potential DSL users. Furthermore, we analyze these contributions from a DSL-engineering viewpoint and discuss quantitative and qualitative aspects such as the methods and tools used for DSL implementation as well as their documentation status and platform integration. Finally, we conclude with some recommendations for discussion in the robotics programming and simulation community based on the insights gained with this survey.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%