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Reliability of Robot’s Controller Software

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Interactive Collaborative Robotics (ICR 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14214))

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Abstract

The reliability of robots’ digital control systems, based on Von Neumann type computer platform is investigated. An approach is proposed for assessing the reliability of a robot control program, based on the analysis of software as a model of a computational process unfolding in real physical time. It is shown that in systems of suchlike class the importance of software in ensuring the reliability of robot operation as a whole increases significantly. It is determined that software failure potential is being laid to the control program at its designing stage due to neglect of such digital controllers properties, as time delays when data processing. The model of control program failures emerging, caused by time factor, is worked out. For delays between transactions estimation the semi-Markov model of poling procedure is used, that permit to estimate probabilities of exceeding data skew, pure lag, and sampling period the threshold, beyond which the control system failure takes place. Using a stochastic matrix, describing poling procedure, probability of failure, caused by transactions order disturbances is estimated. Probabilities and sampling period obtained are used for simulation of failure flow generator, describing reliability of control program.

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Acknowledgments

The research was carried out within the grant № 22–26-00808 of Russian Scientific Foundation.

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Authors and Affiliations

  1. Tula State University, 92, Lenina pr., Tula, 300012, Russia

    Eugene Larkin, Tatiana Akimenko & Vadim Sharov

  2. St. Petersburg Federal Research Center of the Russian Academy of Sciences, 39, 14th Line V.O., St. Petersburg, 199178, Russia

    Alexey Bogomolov

Authors
  1. Eugene Larkin
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  2. Tatiana Akimenko
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  3. Alexey Bogomolov
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  4. Vadim Sharov
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Corresponding author

Correspondence to Tatiana Akimenko .

Editor information

Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Institute of Control Systems of Ministry of Science and Education of the Republic of Azerbaijan, Baku, Azerbaijan

    Aminagha Sadigov

  3. V.A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Larkin, E., Akimenko, T., Bogomolov, A., Sharov, V. (2023). Reliability of Robot’s Controller Software. In: Ronzhin, A., Sadigov, A., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2023. Lecture Notes in Computer Science(), vol 14214. Springer, Cham. https://doi.org/10.1007/978-3-031-43111-1_26

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  • DOI: https://doi.org/10.1007/978-3-031-43111-1_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-43110-4

  • Online ISBN: 978-3-031-43111-1

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