D2.1 Requirements and Specification - CORBYS
D2.1 Requirements and Specification - CORBYS
D2.1 Requirements and Specification - CORBYS
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<strong>D2.1</strong> <strong>Requirements</strong> <strong>and</strong> <strong>Specification</strong><br />
Output<br />
Requirement No.: ACT4<br />
Name: Actuator models for robotic system modelling <strong>and</strong> integration of motor control units (Task<br />
6.2)<br />
Description: The developed models will be the starting point of research on robot control <strong>and</strong> cognitive<br />
control architectures, modelling <strong>and</strong> simulation of the robotic system, its components <strong>and</strong><br />
environment.<br />
Reason / Comments:<br />
Indicative priority M<strong>and</strong>atory<br />
Requirement No.: ACT5<br />
Name:<br />
The actuator system of the orthosis<br />
Description: The actual actuators selected will be defined in the detailed specification. The actuator<br />
system of the orthosis will be developed by SCHUNK: output power, power source, motor<br />
characteristics (Voltage, current consumption, torque, velocity) with nominal <strong>and</strong> absolute<br />
ratings. <strong>and</strong> will be integrated to the orthosis through the Task 7.5<br />
Risk analysis in conformance with the European machine guidelines is expected.<br />
Reason / Comments:<br />
Indicative priority M<strong>and</strong>atory<br />
Requirement No.: ACT6<br />
Name: Actuation of the mobile platform<br />
Description: The actual actuators selected will be defined in the detailed specification. The actuator<br />
system of the mobile manipulator will be developed by SCHUNK: output power, power<br />
source, motor characteristics (Voltage, current consumption, torque, velocity) with nominal<br />
<strong>and</strong> absolute ratings. <strong>and</strong> will be integrated to the mobile platform through the Task 7.5<br />
Risk analysis in conformance with the European machine guidelines is expected.<br />
Reason / Comments:<br />
Indicative priority M<strong>and</strong>atory<br />
5.6.2 Non Functional <strong>Requirements</strong><br />
5.6.2.1 Safety <strong>and</strong> reliability<br />
Requirement No.: ACT7<br />
Name: Safety<br />
Description: The safety solutions integrate intrinsic safety design, but also necessary dual channel<br />
(redundant) sensor integration <strong>and</strong> observation according to man machine cooperation<br />
st<strong>and</strong>ard DIN/ISO 10218<br />
Reason/Comments<br />
Indicative priority M<strong>and</strong>atory<br />
5.7 Development of lowlevel control units (Task 7.4, VUB)<br />
From the control point of view, the computational <strong>and</strong> sensing abilities of the robotic system impose<br />
additional limitations on the robot’s performance. The key contribution to a control system will consists of<br />
distributed set of interacting microcontroller units which will provide robust full monitoring <strong>and</strong> easy<br />
exp<strong>and</strong>ability.<br />
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