Abstract
One of the problems that the design and development of robotic applications currently have is the lack of unified formal modeling notations and tools that can address the many different aspects of these kinds of applications. This paper presents a small example of a chain of robotized arms that move parts in a production line, modeled using a combination of UML and OCL. We show the possibilities that these high-level notations provide to describe the structure and behaviour of the system, to model some novel aspects such as measurement uncertainty and tolerance of physical elements, and to perform several kinds of analyses.
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CITATION STYLE
Gogolla, M., & Vallecillo, A. (2018). (An Example for) Formally Modeling Robot Behavior with UML and OCL. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10748 LNCS, pp. 232–246). Springer Verlag. https://doi.org/10.1007/978-3-319-74730-9_22
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