NDLI: Robot controller specification using SART approach

Content Provider	IEEE Xplore Digital Library
Author	Urbain, L. Tondu, B.
Copyright Year	1994
Description	Author affiliation: Dept. de Genie Electr., Inst. Nat. des Sci. Appliquees, Toulouse, France (Urbain, L.; Tondu, B.)
Abstract	The SART (Structured Analysis Real Time) specification method is considered to allow a more detailed and rigorous analysis of robot controller specification. A comparison is first developed between block diagrams and SART stream diagrams in the basic example of a joint control loop. Then the SART approach is applied to the two fundamentals levels of the robot controller: joint control and trajectory generation. Interest of SART approach is especially emphazised by showing the possibilities to specify specific databases, temporal aspects not obvious to represent as the treatment of online trajectory generation, and more generally functional decomposition of each process with associated control signals. The specification treatment of complex functions as trajectory planning or task space trajectory generation including inverse kinematic model is considered.<>
Starting Page	303
Ending Page	308
File Size	492260
Page Count	6
File Format	PDF
ISBN	0780318722
DOI	10.1109/CCA.1994.381450
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-08-24
Publisher Place	United Kingdom
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Motion planning Position control Real time systems Control systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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