Cable-Anchor Robot Implementation using Embedded CD++

Keith Holman; Jeremy Kuzub; Mohammad Moallemi; Gabriel Wainer

2nd International ICST Conference on Simulation Tools and Techniques

Research Article

Cable-Anchor Robot Implementation using Embedded CD++

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Cite: BibTeX Plain Text

@INPROCEEDINGS{10.4108/ICST.SIMUTOOLS2009.5743,
    author={Keith Holman and Jeremy Kuzub and Mohammad Moallemi and Gabriel Wainer},
    title={Cable-Anchor Robot Implementation using Embedded CD++},
    proceedings={2nd International ICST Conference on Simulation Tools and Techniques},
    publisher={ICST},
    proceedings_a={SIMUTOOLS},
    year={2010},
    month={5},
    keywords={Design Verification},
    doi={10.4108/ICST.SIMUTOOLS2009.5743}
}

Keith Holman
Jeremy Kuzub
Mohammad Moallemi
Gabriel Wainer
Year: 2010
Cable-Anchor Robot Implementation using Embedded CD++
SIMUTOOLS
ICST
DOI: 10.4108/ICST.SIMUTOOLS2009.5743

Keith Holman¹^,*, Jeremy Kuzub¹^,*, Mohammad Moallemi¹^,*, Gabriel Wainer¹^,*

1: Carleton University Dept. of Systems and Computer Engineering 1125 Colonel By Drive, Ottawa, Canada, K1S 5B6

*Contact email: keith@sce.carleton.ca, jkuzub@sce.carleton.ca, omoallemi@sce.carleton.ca, gwainer@sce.carleton.ca

Abstract

We show the design and implementation of a robot controller with a unique locomotion system. We demonstrate that a discrete-event simulation based design provides a cost-effective, flexible, open workflow for modular robotic development. The robot is designed to translate against a vertical surface using cables fixed at one end that can wind on motor-controlled spools attached to the robot. This architecture was implemented first as a regressively tested simulation within CD++ then ported to Real-time CD++. Using the NXT++ interface library, a hardware implementation of the robot using Lego® Mindstorms™ was shown to be controllable

Keywords: Design Verification

Published: 2010-05-16
Publisher: ICST
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.SIMUTOOLS2009.5743