A runtime server includes a plurality of simultaneously executing runtime systems, which are configured for real-time execution of a control program for an automation system. At least two of the runtime systems execute application modules of the control program, with at least one module executing an application of the control program being installed on each runtime system. Each runtime system has a data transmission interface for transmitting data between the runtime systems and/or application modules, an I/O configuration which defines an allocation between at least one variable of the application modules and at least one hardware address of a hardware component of the automation system, an I/O interface for data exchange between the runtime systems and hardware components, and an intermediate I/O mapping layer. The I/O configurations are mapped in the intermediate I/O mapping layer.

A method for controlling an industrial robot are disclosed, wherein the method is performed by a robot controller system, the robot controller system includes a local part connected to an industrial robot and a remote cloud part connectable to the local part. The local part includes a first real-time partition and a second non-real-time partition, and the method includes the steps of: storing a local cache of a complete file system of the robot controller system in the second non-real-time partition; storing the complete file system in the remote cloud part; and controlling the industrial robot in real time from the first real-time partition.

The present invention relates to a robot hybrid system application framework based on a multi-core processor architecture. In the robot system with ARM/X86 multi-core processor as the controller, multi-core parallel processing architecture of the ARM/X86 multi-core processor is used to run the robotic hybrid system application framework comprising real-time operating system, non-real-time operating system and system supporting frame in the whole robot controller, so as to provide improved operating system services. In this application framework, a real-time operating system runs independently in one ARM/X86 core, while several non-real-time operating systems run on other ARM/X86 cores. The operating systems occupy processor resources and peripherals separately and run robotic applications with different real-time requirements. The application program can be used as a unified robot operating system (ROS) application node.

An application processor processes an application. A sensor processor acquires image data from an image sensor and analyzes the image data. A motion controlling processor controls motion of a movable part of a robot. The motion controlling processor provides posture information for specifying an orientation of the image sensor to the sensor processor, not via the application processor. The posture information includes information for specifying a position of the image sensor.