US 12,257,716 B2
System for guiding the movement of a manipulator having a first processor and at least one second processor
Stefan Ender, Gessertshausen (DE); and Holger Mönnich, Friedberg (DE)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Filed by Siemens Aktiengesellschaft, Munich (DE)
Filed on May 13, 2020, as Appl. No. 15/930,506.
Claims priority of application No. 19174700 (EP), filed on May 15, 2019.
Prior Publication US 2020/0361087 A1, Nov. 19, 2020
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/161 (2013.01); B25J 9/1674 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A system for guiding movement of a manipulator which has been tested for compliance with safety requirements for operation of the manipulator within a protective zone or with stop operations, comprising:
a first multi-core processor which only performs control tasks relating to guiding the movement of the manipulator, the control tasks being performed in real time and being performed while complying with the safety requirements, and changes to the first multi-core processor including re-testing to determine compliance with the safety requirements; and
at least one second multi-core processor which only performs an application task which comprises a path planning task and a task relating to processing user inputs, changes to the second multi-core processor not including re-testing for compliance with the safety requirements.
 
9. A method for changing or expanding an application task of a manipulator which has been tested for compliance with safety requirements for operation of the manipulator within a protective zone or with stop operations, the method comprising:
performing control tasks relating to guiding movement of a manipulator on a first multi-core processor in real time while complying with the safety requirements;
setting up changes to the first multi-core processor, changes to the first multi-core processor not including re-testing for compliance with the safety requirements;
performing the application task on a second multi-core processor, said application task comprising a path planning task;
performing, on the second multi-core processor, a task relating to processing user inputs;
setting up changes to the second multi-core processor changes to the second multi-core processor including re-testing to determine compliance with the safety requirements;
wherein the second multi-core processor only performs the control tasks relating to guiding the movement of the manipulator and the first multi-core processor only performs application tasks which comprise the path planning task and the task relating to processing user inputs.