Runtime Analysis of a Self-Adaptive Hard Real-Time Robotic Control System

This paper describes a software architecture for parallel kinematic machines and its evolvement to a self-adaptive system striving to optimize, protect and heal itself Self-* properties are provided by self-manager components that observe and manipulate their associated system parts. A development approach for the self-managers is outlined, as is a first realization of a self-manager responsible for the control core. This self-manager distributes control components during runtime and makes feasibility decisions based on a runtime schedulability analysis