Aproximación Basada en UML para el Diseño y Codificación Automática de Plataformas Robóticas Manipuladoras

摘要

Today, robotics manipulator is a crucial discipline in modern production industrial facilities and in a near future; it will also be decisive in the human quotidian society. Consequently, currently there is a growing demand of applications with arm-based robots with requirements such as: reutilization, flexibility and adaptability. Unfortunately, there is a lack of standardization of hardware and software platforms, so the satisfaction of these requirements is too difficult. In this sense, there is a necessity of a methodology that guides along application design, implementation as well as the execution of the software systems. This work, explores the advantages of Model Driven Engineering (MDE) for the design and development of applications performed by manipulator robots. In fact, an UML based approach is proposed that supports the design of robotic tasks and an automatic code generation for the most spread robotic communication Middlewares has been also developed. More specifically, the target code generation for OROCOS and ROS communication Middlewares has been detailed. Finally, two case studies have been presented one for industrial field and the other for service sector. The former runs on OROCOS and the latter on ROS.