Robots are increasingly being used in applications for which traditional industrial robot controls are not suitable. These applications require simple, manageable, reliable and safe control systems, which are more open, flexible and expandable than those of classical industrial robots. The project therefore implements industry-ready open source robot software, which offers the flexibility of a universal and open platform, but is still safe and also easy to use.
Architecture
EEROS 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.
Robots are increasingly being used in applications for which traditional industrial robot controls are not suitable. These applications require simple, manageable, reliable and safe control systems, which are more open, flexible and expandable than those of classical industrial robots. The project therefore implements industry-ready open source robot software, which offers the flexibility of a universal and open platform, but is still safe and also easy to use.
