Abstract
In this paper we present GFE ? the Graphical FSM (Finite State Machine) Editor based on the Grafcet SFC (Sequential Function Chart) model. The GFE takes advantage of automated code generation and provides strong tools for complex control.
At the same time it gives a high-level overview of the entire robotic control architecture. A complex control system may be designed, tested and deployed using visual approach.
This is particularly useful for education where the students do not have to start always from scratch, or for young robot builders who are not as experienced in low-level programming. Once a control library is implemented for a particular robot, it may be reused and the robot may be programmed using solely graphical approach, because the most complicated part of controller design - the state machine - is automatically generated.
This avoids typing errors and allows fast and simple redesign.