Mixed-critical Controller based on a single Multi-Processor System on Chip for Collaborative Robots

A mixed-critical controller architecture for collaborative robots based on a multi-processor system on chip (MPSoC) is proposed, focusing on functional safety, including multi-axis safe motion. This allows an advantageous combination of proven safety-related technologies such as fieldbuses, digital encoder interfaces and lockstep processors from the automotive industry. Proven Linux-based software from the information technology (IT) is also used.