Fault Avoidance in Development of Robot Motion-Control Software by Modeling the Computation

In this article, we present the process of modeling control algorithms as means to increase reliability of software components. The approach to developing Embedded Control Software (ECS) is tailored to Component-Based Software Development (CBSD). Such tailoring allows to re-use the ECS development process tools in a development process for robotics software. Model-to-text transformation of the ECS design tool is extended to model-to-component transformation suitable for CBSD frameworks. The development process and tools are demonstrated by a use case.