The Robotics API: An object-oriented framework for modeling industrial robotics applications

Angerer, Alfred; Hoffmann, Alwin; Schierl, Andreas; Vistein, Michael; Reif, Wolfgang

doi:10.1109/iros.2010.5649098

Cited by 18 publications

(18 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The template adopts the Graphplan planner to implement the planning capability of the planner agent (lines 11 and 12), which has been considered as the most efficient method for numerous planning domains. 32 Additionally, this template initiates a proactive communication act with the dispatch agent to send the newly computed task plans (lines [14][15][16][17].…”

Section: Case Implementationmentioning

confidence: 99%

“…The status event encodes the information of the observation targets from the actuator agent, which can help gather plan execution status. As soon as the event notification is received, the sensor agent begins to retrieve and observe desired observation targets, transforms the raw sensor data into target-related facts (lines 6-8) and then makes a request to the reasoner agent to update the facts (lines [11][12][13][14].…”

Section: Case Implementationmentioning

confidence: 99%

See 1 more Smart Citation

RETRACTED: A decentralized multi-agent control approach for robust robot plan execution

Yang

Wang

2018

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Table 2 on page 11, which presents the comparison results between the multi-agent approach and two traditional approaches. In the initial experiments, errors in module design and programming resulted in inefficiencies in the programs written with object-oriented and componentbased approaches, which introduce significant bias in the time cost and code amounts and therefore compromises the findings. The corresponding author offered the explanation that after the case study was repeated by proficient robot engineers, it was established that both object and component models can abstract the robot program well. The comparison criterions of time costs and program amount cannot clearly distinguish which control approach is better. As the evaluation of such criterions is biased and subjective, the presented results lose their confidence. The authors intend to conduct further experimentation to more objectively evaluate the comparative performances of their proposed control approach.

show abstract

Section: Case Implementationmentioning

confidence: 99%

Section: Case Implementationmentioning

confidence: 99%

RETRACTED: A decentralized multi-agent control approach for robust robot plan execution

Yang

Wang

2018

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…The Activity Layer wraps commonly used functions into more simple Java methods and is therefore targeted at robot-application developers. More details about the Robotics API can be found in Angerer et al (2010).…”

Section: Robotics Apimentioning

confidence: 99%

Flexible and continuous execution of real-time critical robotic tasks

Vistein

Angerer

Hoffmann

et al. 2014

IJMA

Self Cite

View full text Add to dashboard Cite

Today, industrial robots are usually programmed using specialized programming languages, different for every robot manufacturer. These languages provide good usability, because they are tailored to the functionality traditionally offered by robots. However, these languages are reaching their limits with the growing integration of sensors or multiple robot systems. Therefore, we propose an architecture based on the separation of application control and the execution of real-time robotic tasks. This article describes a flexible and extensible interface for the specification and continuous execution of robotic tasks.

show abstract

“…Angerer et al introduced an Object-Oriented (OO) framework for modeling industrial robotics applications to improve robotics development and maintenance [5]. By analyzing the existing low-level and imperative robot programming languages, a set of robotics APIs were designed across 70 classes, which covers the concepts to model geometric relations (e.g., Frame, SpatialObject, PhysicalObject), device and control (e.g., Device, Joint, Manipulator), and commands (e.g., Action, Trigger).…”

Section: Related Workmentioning

confidence: 99%

A Model-Driven Approach to Support Engineering Changes in Industrial Robotics Software

Sun

Gray

Bulheller³

et al. 2012

Model Driven Engineering Languages and Systems

View full text Add to dashboard Cite

Software development has improved greatly over the past decades with the introduction of new programming languages and tools. However, software development in the context of industrial robotics is dominated by practices that require attention to low-level accidental complexities related to the solution space of a particular domain. Most vendor-specific robotics platforms force the developer to be concerned with many low-level implementation details, which presents a maintenance challenge in the context of making engineering changes to the robotics solution. Additionally, satisfying the timing requirements across the platforms of multiple robot vendors represents an additional challenge. We introduce our work using Domain-Specific Modeling to support the control of industrial robots using models that are at a higher level of abstraction than traditional robot programming languages. Our modeling approach assists robotics developers to plan the schedule, validate timing requirements, optimize robot control, handle engineering changes, and support multiple platforms.

show abstract

The Robotics API: An object-oriented framework for modeling industrial robotics applications

Cited by 18 publications

References 12 publications

RETRACTED: A decentralized multi-agent control approach for robust robot plan execution

RETRACTED: A decentralized multi-agent control approach for robust robot plan execution

Flexible and continuous execution of real-time critical robotic tasks

A Model-Driven Approach to Support Engineering Changes in Industrial Robotics Software

Contact Info

Product

Resources

About