SysML-Based Robot System Design for Manipulation Tasks

摘要

Recently, the software technology for robot system is focused by many researchers. Reusability and flexibility of the software of robot system, are provided by robot software developer such middleware platforms. However, in order to increase the effectiveness of the module or components, we should consider the module design for each component, which is based on the rule of middleware platforms. To consider a module design, modeling language is one of the good description and communication tools for abstraction of target systems. In this paper, we focus on the SysML as modeling language, which is description tool for robot system. And, we will introduce how to analyze a target system based on SysML. And then, mobile manipulation system and autonomous robot system are shown as a example target system.