Testing robot controllers using constraint programming and continuous integration

Context: Testing complex industrial robots (CIRs) requires testing several interacting control systems. This is challenging, especially for robots performing process-intensive tasks such as painting or gluing, since their dedicated process control systems can be loosely coupled with the robot’s motion control. Objective: Current practices for validating CIRs involve manual test case design and execution. To reduce testing costs and improve quality assurance, a trend is to automate the generation of test cases. Our work aims to define a cost-effective automated testing technique to validate CIR control systems in an indus-