Abstract
The development of Human Robot Collaborative (HRC) systems faces many challenges. First, HRC systems should be adaptable and re-configurable to support fast production changes. However, in the development of HRC applications safety considerations are of paramount importance, as much as classical activities such as task programming and deployment. Hence, the reconfiguration and reprogramming of executing tasks might be necessary also to fulfill the desired safety requirements. Model-based software engineering is a suitable means for agile task programming and reconfiguration. We propose a model-based design-to-deployment toolchain that simplifies the routine of updating or modifying tasks. This toolchain relies on (i) UML profiles for quick model design, (ii) formal verification for exhaustive search for unsafe situations (caused by intended or unintended human behavior) within the model, and (iii) trans-coding tools for automating the development process. The toolchain has been evaluated on a few realistic case studies. In this paper, we show a couple of them to illustrate the applicability of the approach.
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Funding
Open access funding provided by Politecnico di Milano within the CRUI-CARE Agreement. The Italian Ministry of Education, University and Research is acknowledged for the support provided through the Project “Department of Excellence LIS4.0 - Lightweight and Smart Structures for Industry 4.0”.
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Mehrnoosh Askarpour: Methodology, Conceptualization, Software, Writing - original draft. Livia Lestingi: Software, Investigation, Writing - original draft. Samuele Longoni: Software, Investigation, Writing - original draft. Niccolò Iannacci: Conceptualization, Resources. Matteo Rossi: Conceptualization, Supervision, Writing - review & editing, Funding acquisition. Federico Vicentini: Conceptualization, Resources, Writing - review & editing.
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These authors contributed equally to the work presented in this article: Mehrnoosh Askarpour, Livia Lestingi, Samuele Longoni
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Askarpour, M., Lestingi, L., Longoni, S. et al. Formally-based Model-Driven Development of Collaborative Robotic Applications. J Intell Robot Syst 102, 59 (2021). https://doi.org/10.1007/s10846-021-01386-2
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DOI: https://doi.org/10.1007/s10846-021-01386-2