Modeling and Controlling a Robotic Arm with E-CD++

The E-CD++ tool uses the RT-DEVS (real-time DEVS) formalism for modeling, simulation and execution of realtime and embedded applications. This formal modelling and simulation approach can be used as a robust foundation for developing real-time and embedded applications. It eases verification of the product, as sometimes verifying an embedded application in the real environment can be very risky or impractical. We show the use of this methodology to model a real-time robotic application. We show the ease of integrating a simulated DEVS model using E-CD++, embedding it in a robotic device (consisting of a robotic arm with a claw to grab and load objects). The complete model design is done through DEVS graphs based on DEVS formal model specifications. E-CD++ allows one implement and execute the model on a RTLinux kernel.