Reliability Of Robot’s Controller Soft

Abstract

The reliability of robots’ digital control systems, based on Von Neumann type computer platform is investigated. 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. With use the 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.