IEC61508 Compliant,

Dependable Robot System

Prakash Kumar
DCOER,ZES
 IEC61508 Compliant, Dependable Robot System
The main contribution of this paper is to show a concrete system
architecture and development process designed to satisfy IEC61508
requirements and reduce the development cost as well.

ROBOTS: Automating more variety of tasks.

Flexibility in places designed for humans

Work together with human workers.

2
Prakash Kumar DCOER,ZES
 Dual arm robot working closely with a human.

A BRIEF DESCRIPTION OF RELATED STANDARDS

standard brief explanation
IEC61508 functional safety of E/E/PE safety-related systems
ISO26262 functional safety for road vehicles
ISO13482 safety requirements for non-industrial(service) robots

ISO10218-1 industrial robot, safety in human-robot interaction mode

IEC61496 safety standard for electro sensitive protective equipment

IEC61508
 standard for functional safety

 proof that a system achieves some safety level

 own safety program 3

Prakash Kumar DCOER,ZES
 Why Dependability is required ?

Movement of the robots against their specification

causes danger.

Operations such as repair or retrieval are difficult

in case of trouble.

The idea of system development based standards

and Software are becoming important.

4
Prakash Kumar DCOER,ZES
 Problems
 Software issue.
methods of developing robot systems based on the standards software is
used in many control systems

IEC61508 sees this problem not negligible and specifies requirements for the
software.

 lot of work and cost.

establishing a process and tool-chain to mitigate the cost is an urgent
problem.

 System Development Issue

robots typically have restrictions in space, structure and weight to
implement elements such as electrical systems

 Synchronization in Motion of joints issue.

if the motions of the joints are not synchronized, the motion of its arm or
whole body becomes different from the expected one.

 Concurrent Running Components issues.

5
Prakash Kumar DCOER,ZES
 IEC 61508 Requirement

 Software safety cycle.

 management and evaluation issues.

 the software V-model development process.

 software engineering techniques.

 Development process and tools used to realize

IEC61508.

6
Prakash Kumar DCOER,ZES
V-model of development process required by IEC61508 standard

7
Prakash Kumar DCOER,ZES
 D3 modules with TTP/C
Proposed Architecture communications

Modularized architecture with separate certifications

Network of Time Triggered Protocol (TTP)

D3 modules- used to control motors and read

sensors.

Operating systems, middleware, networks and some

translation tools

SysML (Abstract modeling language)

Prakash Kumar DCOER,ZES 8

RUN TIME SYSTEM
ARCHITECTURE

9
Prakash Kumar DCOER,ZES
 10
Prakash Kumar DCOER,ZES
 11
Prakash Kumar DCOER,ZES
 12
Prakash Kumar DCOER,ZES
Future Scope

We are planning to
develop a prototype of a
Hardware dual arm manipulation
dependability and robot. The architecture
assessing risks in a and process presented in
concrete task this paper will be used
scenario are also there.
our future works.
This paper dealt
with the
implementation of
the software and did
not mention
hardware except the
control system
network. Prakash Kumar DCOER,ZES
 CONCLUSION
1. we proposed a software architecture and a development process
toward highly dependable robot systems.

2. They are designed considering IEC61508 standard. IEC61508

standard, is important when developing robot systems, especially for
the robots that work closely with humans In the proposed
architecture.
3. the lower-level system, where deterministic behavior is required,
consists of a set of D3-modules connected with TTP network. And
the network is connected with a set of RTM Safety modules running
on QNX through a shared memory in a PCI board.

4. it can be used in safety-related systems.

5. The system is designed using both SysML and IEC61499 function

blocks. The tool of BlokTech is utilized to implement control system.
14
Prakash Kumar DCOER,ZES
 15
Prakash Kumar DCOER,ZES