EEROS Architecture in Brief
Background
| ArchitectureEEROS essentially consists of three subsystems: the control system, the sequencer and the safety system. A control system runs in real time, and consists of blocks which contain algorithms working in parallel and connected by signals. The sequencer does not run in parallel but sequentially, since robot movements must be carried out strictly in succession. However, there are some exceptions, for example when an unforeseen event occurs and the current movement must be stopped. The safety system is designed as a series of strictly hierarchical security levels. It monitors critical inputs and outputs and it ensures, for example, that a fall back to the safety level "Emergency" leads immediately and reliably to stopping the robot, no matter who or what invoked the emergency event. |