D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification 5.7.1 Functional Requirements 5.7.1.1 Processes Inputs Requirement No.: LLC1 Name: Mechanical design of the powered orthosis and mobile platform Description: Number and type of DOFs, their position and specifications Reason/comments To define main characteristics of the LLC is necessary to clarify specifications of all actuated DOF Indicative priority Mandatory Requirement No.: LLC2 Name: Electro-mechanical components Description: Actuators for every DOF of powered orthosis and mobile platform; output power, power source, motor characteristics (Voltage, current consumption, torque, velocity) with nominal and absolute ratings. Reason/Comments The performance of CORBYS control architectures and the constraints on actuators assume a special importance in functionality of whole system. Controller manipulates the system inputs to obtain the desired effect on the output of the system. In order to have more accuracy in control some characteristics of electro-mechanical components to be discussed with partners. Indicative priority Mandatory Requirement No.: LLC3 Name: Controller Inputs Description: Determine the sensors that will be connected to the controller unit to define number and type of the inputs required. Data sheet characteristics for all sensors. Reason/Comments After the sensors will be chosen it will be necessary to classify which ones will be connected to an acquisition data system and ones that can be read and used by LLC as feedback in low level control loop. Indicative priority Mandatory Outputs Requirement No.: LLC4 Name: Controller Outputs Description: Specific output ports required to drive actuators or provide information to other control subsystems. Reason/Comments Besides the driving of the actuator it is necessary to provide power, references or data to other modules of the system, so the peripherals and special hardware components should be considered. Indicative priority Mandatory Processing Requirement No.: LLC5 Name: Low level control loop Description: Developing a control scheme to accomplish low level control for each DOF of the system. Reason/Comments After all input and output parameters will be defined it will be necessary to develop a control scheme and implement the low level source code. LLC will operate in accordance with the main processing unit real time cycle, all to be discussed with partners. Indicative priority Mandatory 44
D2.1 Requirements and Specification Data flow Requirement No.: LLC6 Name: Communication protocol Description: Every LLC will be a node in the system network which will receive and provide data, communication protocol should be fast, safe and reliable. Reason/Comments Considering real time operation it is crucial to have a real time communication protocol. LLC should integrate modules necessary to accomplish this task. Indicative priority Mandatory 5.7.1.2 Interfaces Requirement No.: LLC7 Name: Test interface Description: Test Graphic User Interface Reason/Comments A graphical user interface should be designed to test the functionality of the LLC before being integrated in the system. Indicative priority Mandatory 5.7.2 Non Functional Requirements 5.7.2.1 Performance Requirement No.: LLC8 Name: Dimensions and placement in system Description: Reason/Comments The placement of LLC will influence hardware design complexity and wiring architecture. To be discussed with the Consortium. Indicative priority Desirable 5.7.2.2 Safety and reliability Requirement No.: LLC9 Name: Safety functional parameters Description: Will be chosen to conform with the general requirements for safety in human-robot interactions (ex: admissible voltage for motor drivers) Reason/Comments Indicative priority Mandatory 5.8 Realization of the robotic system (Task 7.5, SCHUNK) In this task SCHUNK will be responsible for assembly of complete robotic system that should be fully functional on completing this task. 5.8.1 Functional Requirements 5.8.1.1 Processes Inputs Requirement No. REAL1 Name: Completed components of the robotic system. 45
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D2.1 Requirements and Specification - CORBYS

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