The ORCCAD architecture

摘要

The ORCCAD programming environment for robotic systems allows users to address automatic control laws in continuous time at the lower levels, and aspects of discrete-time logic at the higher lev- els. ORCCAD provides tools of specification, formal verification, simulation, and real-time code generation integrated within a set of dedicated graphical interfaces. Basic robot actions, which are in- trinsically hybrid entities, are handled by the tROBOT-TASK struc- ture, which smartly interfaces aspects of continuous and discrete time.