Manipulator Motion Control with Split Safety and Application Processors
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Solution Overview
Problem
Conventional manipulator systems require costly and complex certification processes whenever there is a change or expansion in application tasks, as both safety and control tasks are typically handled by the same processor, necessitating re-certification even for minor adaptations.
Innovation Solution
A dual-processor system where the first processor handles real-time control tasks with safety certifications, and the second processor handles application tasks like path planning and user input processing, allowing for adaptations without affecting the first processor's certification, thus separating safety and application task processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the same processor handles both safety control tasks and application tasks, then the system can be simpler in structure, but any change or expansion in application tasks requires re-certification of the entire system
Solution Approach 1:
The system divides the processor functions into two separate processors: a first processor dedicated to safety control tasks that requires certification, and a second processor for application tasks that does not require certification. This segmentation allows the certified safety-critical portion to remain unchanged while the application portion can be freely adapted and expanded.
2Ease of manufacture
If the same processor handles both safety control tasks and application tasks, then the initial system setup is simpler, but adaptation of application tasks requires costly and complex re-certification
Solution Approach 1:
The system separates safety-critical control functions from application functions into different processors. The first processor handles safety control tasks and undergoes certification once, while the second processor handles application tasks and can be adapted without affecting the certification status of the first processor.
Solution Approach 2:
The application tasks are extracted from the safety control processor and placed on a separate second processor. This extraction allows the application portion to be modified, expanded, or replaced without impacting the certified safety control system.
3Reliability
If multiple cores are provided in a single processor for safety and control, then real-time requirements can be satisfied, but the entire system must be re-certified when application tasks change
Solution Approach 1:
The system uses two separate processors: the first processor with multiple cores handles safety control tasks in real-time and is certified once, while the second processor handles application tasks. Changes in application tasks do not require re-certification of the first processor, thus avoiding time loss associated with repeated certification processes.
Data Source
AI summary
A method for changing or expanding application tasks of a manipulator via a first processor and a second processor and a system for guiding the movement of the manipulator, wherein the system includes a first processor for performing control tasks relating to guiding the movement, the control tasks being performable in real-time and being performable while complying with pre-definable, in particular certifiable, safety requirements, and includes at least one second processor for performing an application task formed from a path planning task and a task relating to processing user inputs, where the second processor can be adapted to perform at least one changed or further application task.