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

  1. Elisabet Estévez 1
  2. Alejandro Sánchez García 1
  3. Javier Gámez García 1
  4. Juan Gómez Ortega 1
  1. 1 Universidad de Jaén
    info

    Universidad de Jaén

    Jaén, España

    ROR https://ror.org/0122p5f64

Journal:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Year of publication: 2017

Volume: 14

Issue: 1

Pages: 82-93

Type: Article

DOI: 10.1016/J.RIAI.2016.11.001 DIALNET GOOGLE SCHOLAR lock_openOpen access editor

More publications in: Revista iberoamericana de automática e informática industrial ( RIAI )

Metrics

Cited by

  • Scopus Cited by: 6 (15-02-2024)
  • Dialnet Métricas Cited by: 1 (29-01-2024)
  • Web of Science Cited by: 5 (07-10-2023)
  • Dimensions Cited by: 5 (24-01-2024)

JCR (Journal Impact Factor)

  • Year 2017
  • Journal Impact Factor: 0.494
  • Journal Impact Factor without self cites: 0.402
  • Article influence score: 0.077
  • Best Quartile: Q4
  • Area: AUTOMATION & CONTROL SYSTEMS Quartile: Q4 Rank in area: 60/61 (Ranking edition: SCIE)
  • Area: ROBOTICS Quartile: Q4 Rank in area: 26/26 (Ranking edition: SCIE)

SCImago Journal Rank

  • Year 2017
  • SJR Journal Impact: 0.215
  • Best Quartile: Q3
  • Area: Computer Science (miscellaneous) Quartile: Q3 Rank in area: 187/652
  • Area: Control and Systems Engineering Quartile: Q3 Rank in area: 293/1217

Scopus CiteScore

  • Year 2017
  • CiteScore of the Journal : 1.2
  • Area: Computer Science (all) Percentile: 46
  • Area: Control and Systems Engineering Percentile: 36

Journal Citation Indicator (JCI)

  • Year 2017
  • Journal Citation Indicator (JCI): 0.21
  • Best Quartile: Q4
  • Area: ROBOTICS Quartile: Q4 Rank in area: 34/36
  • Area: AUTOMATION & CONTROL SYSTEMS Quartile: Q4 Rank in area: 65/73

Dimensions

(Data updated as of 24-01-2024)
  • Total citations: 5
  • Recent citations (2 years): 1

Abstract

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.

Bibliographic References

  • Aaron Martínez, Enrique Fernández, 2013. Learning ROS for Robotics Programming, Packt Publishing ltd.
  • Alonso D., Vicente-Chicote C., Ortiz F., Pastor J., Álvarez B., 2010. V3CMM: a 3-view component metamodel for model-driven robotic software development. Journal of Software Engineering for Robotics, 3- 17.
  • Aracil Rafael, Balaguer Carlos, Armada Manuel, 2008. Robots de Servicio. Revista Iberoamericana de Automática e Informática Industrial 5(2), 6-13.
  • Atkinson Colin, Kühne Thomas, 2003. Model-driven development: a metamodeling foundation. IEEE Software 20(5), 36–41.
  • Azamat Shakhimardanov, Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, 2011. Deliverable D-2.1 Best Practice Assessment of Software Technologies for Robotics. [Online] Disponible en: http://www.best-ofrobotics.org/pages/publications/BRICS_Deliverable_D2.1.pdf
  • Balasubramanian K., Gokhale A., Karsai G., Sztipanovits J., Neema S., 2006. Developing applications using model-driven design environments. Computer 39(2), 33–40.
  • Bárbara Álvarez, Francisco Ortiz, Juan A Pastor, Pedro Sánchez, Fernando Losilla, Noelia Ortega, 2006. Arquitectura para control de robots de servicio teleoperados. Revista Iberoamericana de Automática e Informática Industrial 3(2), 79-89
  • Barner S., Geisinger M., Buckl C., Knoll A., 2008. EasyLab: model-based development of software for mechatronic systems. Proc. IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 540 –545.
  • Bischoff R., Guhl T., Prassler E., Nowak W., Kraetzschmar G., Bruyninckx H., Soetens P., Haegele M., Pott A., Breedveld P., Broenink J., Brugali D., Tomatis N., 2010. BRICS – best practice in robotics. Proc. of 41st International Symposium on and 6th German Conference on Robotics (ROBOTIK), 1 –8.
  • Booch G, Rumbaugh J, Jacobson I (2005) The unified modelling language user guide, 2nd Edition, Addison-Wesley Professional. Brooks A., Kaupp T., Makarenko A., Williams S., Oreback A., 2005. Towards component-based robotics. Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, 163 – 168.
  • Brugali D., Shakhimardanov A., 2010. Component-based robotic engineering (Part II) [Tutorial]. Robotics Automation Magazine, IEEE 17(1), 100 – 112.
  • Bruyninckx H., 2001. Open robot control software: The OROCOS. Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), 2523-2528
  • Chella, A., Cossentino, M., Gaglio, S., Sabatucci, L., Seidita, V., 2010. Agent oriented software patterns for rapid and affordable robot programming. Journal of Systems and Software 83(4), 557 – 573.
  • Estévez E., Sánchez-García A., Gámez-García J., Gómez-Ortega J., Satorres Martínez S., 2015. A novel model-driven approach to support development cycle of robotic systems. International. Journal of Advanced Manufacturing Technology, 1-15.
  • Gabriel J. Garcia, Juan A. Corrales, Jorge Pomares, Fernando Torres, 2009. Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain. Sensors 9, 9689-9733
  • Garcia H, Bruyninckx H, 2014. Tool Chain (BRIDE) delivered as BRICS software distribution. [online] http://www.best-of-robotics.org/bride/
  • Gerkey B., Vaughan R., Howard A., 2003. The player/stage project: Tools for multi-robot and distributed sensor systems. Proc. of the International Conference on Advanced Robotics.
  • Javier Gámez García, Alejandro Sánchez García, Silvia Satorres Martínez, Juan Gómez Ortega, 2012. Ensamblaje automático de piezas con desviaciones dimensionales. Revista Iberoamericana de Automática e Informática Industrial 9(4), 383-392
  • Jesse Russell, Ronald Cohn, 2012, ROS (Robotic Operating System, VSD
  • Marina Vallés, Jose I. Cazalilla, Ángel Valera, Vicente Mata, Álvaro Page, 2013. Implementación basada en el middleware OROCOS de controladores dinámicos pasivos para un robot paralelo. Revista Iberoamericana de Automática e Informática industrial 10, 96–103.
  • Michael Geisinger, Simon Barner, Martin Wojtczyk, Alois Knoll, 2009. A software architecture for model-based programming of robot systems. LNCS, Advances in Robotics Research, Springer, 135–146.
  • Miller J., Mukerji J., 2003. MDA guide version [Online]. Disponible en: http://www.enterprisearchitecture-info/Images/MDA/
  • OPENRTM, 2015. [Online] Website: http://www.openrtm.org/openrtm/en/node/780
  • Orocos - the deployment component, 2012. [Online]. http://www.orocos.org/stable/documentation/ocl/v2.x/doc-xml/orocosdeployment.html
  • ROS msg, 2015. [Online] http://wiki.ros.org/msg
  • ROS sensors_msgs, 2015 [Online] http://wiki.ros.org/sensor_msgs
  • Sanchez-Garcia A., Estevez E., Gomez Ortega J., Gamez Garcia J., 2013. Component-based modelling for generating robotic arm applications running under OROCOS middleware. IEEE International Conference on Systems, Man, and Cybernetics. 3633-3638.
  • Satorres-Martínez, S., Gómez-Ortega J., Gámez-García J., Sánchez-García A., Estévez-Estévez E., 2013. An industrial vision system for surface quality inspection of transparent parts. International Journal of Advanced manufacturing Technology 68(5-8), 1123-1136
  • Schlegel C., Steck A., Brugali D., Knoll A., 2010. Design abstraction and processes in robotics: From code-driven to model-driven engineering. Simulation, Modeling, and Programming for Autonomous Robots, LNCS, Eds. Springer Berlin/Heidelberg 6472, 324–335.
  • Selic B., 2003. The pragmatics of model-driven development. IEEE Software 20(5):19–25
  • Steinberg D., Budinsky F., Paternostro M., Merks E., 2008. EMF: Eclipse Modeling Framework, 2nd ed. Addison-Wesley Professional Tidwell, 2008. D. XSLT, 2nd Edition, O'REILLY.
  • Valera A., Juste D., Sánchez A. J., Ricolfe C., Mellado M., Olmos E., 2012. Aplicación de la Arquitectura Orientada a Servicios Universal Plug-and-Play para facilitar la Integración de Robots Industriales en Líneas de Producción. Revista Iberoamericana de Automática e Informática Industrial (9), 24-31.
  • XML Metadata Interchange Specification, 2014. [Online] Disponible en: http://www.omg.org/spec/XMI/.