Model-based development and simulation for robotic systems with SysML, simulink and simscape profiles

Mohd Azizi Abdul Rahman, Makoto Mizukawa

研究成果: Article査読

14 被引用数 (Scopus)

抄録

In system-level design, it is difficult to achieve a system verification which fulfils the requirements of various stakeholders using only descriptive system models. Descriptive system models using SysML alone are insufficient for system behaviour verifications and engineers always use different simulation tools (e.g., the Mathworks Simulink or Modelica Dymola) to analyze systems behaviour. It is a good idea to combine descriptive and simulation models. This paper presents the development of a collaborative design framework which brings SysML, Simulink, and Simscape profiles within the domain of robotics. A conceptual design method is proposed to support execution models for simulation. In brief, the descriptive SysML system-level model is interpreted into the system-level simulation models (e.g., Simulink and Simscape). We then use a plugin-based model integration technique to keep both models in sync for automatic simulation. A simulation study is performed to evaluate the system. To illustrate the design of this system, we present a simulated closedloop system.

本文言語English
ジャーナルInternational Journal of Advanced Robotic Systems
10
DOI
出版ステータスPublished - 2013 2 8

ASJC Scopus subject areas

  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 人工知能

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