Datasheet

stopped and
there is no way of
reaching it in time
repaired, human
injuries, damage
to the workspace
Platform The robot is
moving at its full
speed and is
taking to long to
stop
The robot is
running at about
1.6 m/s and
needs about 30
to 45cm to stop
Collision with
obstacles,
human injuries
Visual Introduction of a velocity
limit that allows the robot
to safely stop in case of
emergency
Component: Sensor&Management Board
Sub Component Failure Local Effect End Effect
Detection
Method
Corrective
Action
Batteries Does not detect
one or more
batteries
Some or all parts
of the robot are
not powered
The robot does
not perform as
expected
Voltage
converters on the
board
Check the battery voltage,
fuses and connectors
Navigation
Computer
Does not
communicate
Lost
communication
Robot stops No Serial COM
detection
Check/replace: USB
cable, usb-to-serial
converter and/or
communication
optocouplers
Navigation
Computer
Loses
communication
Intermittent
communication
Abnormal
operation
Visual and losses
of communication
with the
navigation
computer
Check/replace: USB
cable, usb-to-serial
converter and/or
communication
optocouplers
Bumpers Obstacle
detections/collisio
ns
Collision with
obstacles
Robot shell
needs to be
repaired, human
injuries, damage
to the workspace
Distance and
collision sensors
Communication between
the Sensor&Managment
board with the motors
board to transmit
obstacles/collision
detection
Motors Board Lose of
communication
with the motors
board
Impossibility to
communicate the
presence of an
obstacle
Robot shell
needs to be
repaired, human
injuries, damage
to the workspace
Communication
errors
Cut the power from the
motors
Component: Motor Board
Sub Component Failure Local Effect End Effect
Detection
Method
Corrective
Action
Motor Overheat Reduction of
motor
performance
Robot needs to
stop to cool down
the motors
Temperature
sensors
Introduction of heat sinks
with fans to reduce the
heat
Motor Everything is
Enabled but the
motors do not
rotate
The motor does
not rotate
Robot is stopped Visual Check/replace
optocouplers
Motor Drivers Not powered The motors are
stopped
The robot does
not move
Power not
detected. Drivers
power LED off
Check/Replace the motor,
batteries and fuses
Motors Drivers Fans not working Overheat of the
drivers, reduction
of motor
performance
Robot needs to
stop to cool down
the motor drivers
Temperature
sensors
Replace fans and check
the actuation pins
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 39