工业机器人模块化建模与验证  

Modular modeling and verification for industry robot system

作　　者：梁婷 王瑞[1] 李晓娟[1] 关永[1] LIANG Ting;WANG Rui;LI Xiao-Juan;GUAN Yong(Information Engineering College,Capital Normal University,Beijing 100048,China)

机构地区：[1]首都师范大学信息工程学院,北京100048

出　　处：《计算机工程与设计》2019年第1期209-217,共9页Computer Engineering and Design

基　　金：国家自然科学基金项目(61572331;61472468;61602325;61373034);国家科技支撑计划基金项目(2015BAF13B01);北京市科委基金项目(LJ201607);北京市教委科研基地建设基金项目(TJSHG201510028010);北京市属高等学校创新团队建设与教师职业发展计划基金项目(IDHT20150507);国际科技合作计划基金项目(2011DFG13000)

摘　　要：为降低对机器人系统的建模难度,提升建模效率,提出一种对工业机器人的任务控制系统和通信系统模块化建模与验证的方法。基于模型检测技术,将系统划分成相对独立的子模块,对各子模块分别用时间自动机建模,得到一系列模块化模型,模块化模型通过组合形成系统的完整模型网络;在UPPAAL (模型检测工具)中对该完整模型网络的关键属性进行验证。设计基于OUR-1工业机器人的应用案例对该方法进行验证,验证结果表明,该方法可正确建立机器人系统模型,有效降低建模难度,提升建模效率,为复杂机器人系统提供了可参考的建模验证思路。To reduce the difficulty of modeling the complex robot system and improve the efficiency of modeling,a modular modeling and verification method for the task control system and communication system of industrial robot was proposed.The system was divided into relatively independent modules,and each module was modeled separately to obtain a modular model.The modular models were combined to form a complete model network of the entire system.The key properties of the complete model network were verified in the model checking tool UPPAAL.The application of OUR-1 industrial robots was designed to verify the proposed method.The results show that this method can correctly build the complex robot system model,and can effectively reduce the modeling difficulty,improve the modeling efficiency.It provides a referable method for modelling and verification of robot complex system.

关 键 词：模块化建模 工业机器人 模型检测 时间自动机 UPPAAL 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]