Dynamics covers the relationships between actuation and contact forces that act on robot mechanisms. Such a mechanism in this sense is described by rigid bodies connected by joints. Furthermore, it pertains to the acceleration and motion trajectories resulting from these relationships. This subdomain corresponds to Part A, Chapter 2 in the Handbook of Robotics.
In the Functional Design phase, hardware requirements and top-level functionalities are derived based on the scenario definition. Furthermore, top-level functionalities are decomposed and dependencies among them are identified. Also an initial functional design stating which functionalities interact with each other is developed.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| frigerio2012model | Model based code generation for kinematics and dynamics computations in robot controllers | Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G | 2012 | ecore |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
In the Platform Building phase, the robot hardware is determined. This includes the selection and potential configuration of robot's sensors and actuators meeting the requirements defined in the functional design phase.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
In the Capability Building phase, basic and composite components are constructed up to the application-level and constraints for their deployment are specified. This also includes the specification and eventually generation of additional knowledge required for component execution such as knowledge bases and training data.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| aertbelien2014etasl | eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs | Aertbeli\ en, Erwin and De Schutter, Joris | 2014 | |
| frigerio2012code | Code Generation of Algebraic Quantities for Robot Controllers | Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G | 2012 | ecore |
| frigerio2012model | Model based code generation for kinematics and dynamics computations in robot controllers | Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G | 2012 | ecore |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
An important DSL is missing? Here is how to contribute! When using content of the Robotics DSL Zoo or referring to it, pleace consider citing our survey paper:
@article{nordmann2016survey,
author = {Nordmann, Arne and Hochgeschwender, Nico and Wigand, Dennis Leroy and Wrede, Sebastian},
journal = {Journal of Software Engineering in Robotics (JOSER)},
number = {1},
pages = {75--99},
title = {{A Survey on Domain-Specific Modeling and Languages in Robotics}},
volume = {7},
year = {2016},
}