Researches on robot system architecture in CPS

In the premise of introducing existing seven kinds of commonly used robot architectures at home and abroad and analyzing their strengths, weaknesses as well as applications, this paper shows the CPS-R architecture which is applied in the internal of robots to solve the problem in unknown dynamic environment and deeply compliant operation in detail where the current robot architecture cannot meet. Through describing the function and data flow of each component in CPS-R such as external environment in real-world, sensors, actuators, device interfaces in the physical layer, message generation and task allocation, network security authentication and prioritization, information collection, analysis, decision-making and sharing in the information layer. This paper analyzes the challenges of CPS-R architecture such as feasibility, real-time, security, reliability, intelligence, hardware/software standardization of information sharing in the end.