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HRTC Robot Testbed

HRTC Robot Testbed. klas@{cs|control}.lth.se. Outline. Industrial robotics Labs: Applications & control. Interfacing an industrial system. Components and control; architecture. Application specific control. Demonstrator issues. Desired experiments. Industrial Robotics.

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HRTC Robot Testbed

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  1. HRTCRobot Testbed klas@{cs|control}.lth.se WP3 / K. Nilsson / Viena September 11-13, 2002

  2. Outline • Industrial robotics • Labs: Applications & control. • Interfacing an industrial system. • Components and control; architecture. • Application specific control. • Demonstrator issues. • Desired experiments. WP3 / K. Nilsson / Viena September 11-13, 2002

  3. Industrial Robotics • Structured environments • Performance demands • Modular systems • User-level simplicity • Application specific flexible feedback • Hard () real-time built-in control. • On-line changes of task and control WP3 / K. Nilsson / Viena September 11-13, 2002

  4. Laboratories @LTH.se Using ABB Robots, in two labs: • Advanced control; fully reconfigurable controller, replacing all ABB SW. • Advanced applications; extendable (during run-time) controller utilizing ABB controller (HW&SW). Primarily lab 1 (two robots) will be used. WP3 / K. Nilsson / Viena September 11-13, 2002

  5. Irb-2400/S4C+ @lth.se • Complete ABB software and hardware • External control interface added (orange opto-cable, right) WP3 / K. Nilsson / Viena September 11-13, 2002

  6. Bus adapters • Shared memory interface to external controller • PCI/VME, e.g. WP3 / K. Nilsson / Viena September 11-13, 2002

  7. JR3 Force Sensors WP3 / K. Nilsson / Viena September 11-13, 2002

  8. VME PCI Force data WP3 / K. Nilsson / Viena September 11-13, 2002

  9. Task Execute Plug-in Plug-in Plug-in S a f e t y External Sensor signals Path Motion Plug-in Plug-in Plug-in Traj. Servo Plug-in Plug-in Plug-in Int.Sens. Sensors, motors, environment Software Architecture Multi-layered feedback: • Built-in motor control with fixed sensing • Task/Motion/Trajectory • Extra sensing: • slow; reasoning/planning • fast; high performance • Config. on-line; plugins • Bad actions prevented. WP3 / K. Nilsson / Viena September 11-13, 2002

  10. Using the S4C+ controller Application …… Work ARAC Task description ABB controller +Robot RAPID Trajectory generation Arm control Motor control Arm Tool RAP/RPC Cell-control system ? Feedback Force WP3 / K. Nilsson / Viena September 11-13, 2002

  11. Extending the S4C+ controller Application …… Work ARAC Task description ABB controller +Robot RAPID Trajectory generation Arm control Motor control Arm Tool RAP/RPC External control PCI Cell-control system Bus adapters Work- station VME Computing+ coordination Force control JR3 S4-Extension Embedded real-time shared-memory control WP3 / K. Nilsson / Viena September 11-13, 2002

  12. CORBA for packaging? Motion control composed from • Statically defined SW/ctrl modules • Dynamically added SW/ctrl modules that are • Programmed manually. • Generated from control blocks/specs. and used with the hard real-time parts. WP3 / K. Nilsson / Viena September 11-13, 2002

  13. RTW components (->CORBA?) Computing: IO & Sens: WP3 / K. Nilsson / Viena September 11-13, 2002

  14. Control lab @ control WP3 / K. Nilsson / Viena September 11-13, 2002

  15. Joint sensing 100M Sw. Ether. Axis ETRAX AD RDC WP3 / K. Nilsson / Viena September 11-13, 2002

  16. ABB-Cabinet + VME-PPC Drive electronics CPU-boards VME/PPC Axis ETRAX WP3 / K. Nilsson / Viena September 11-13, 2002

  17. Application-specific feedback • High performance  tight/local feedback. • High-level interfaces supporting application • Open Robot Control • Model-based, safe, modular, and flexible. • Research @LTH.se based on industrial experiences @ABB • Lab @control.lth.se • ABB robots (reconfigured) • Real-time performance test: WP3 / K. Nilsson / Viena September 11-13, 2002

  18. Networked visual feedback 2D+time  3D operation (not 3D reconstruction): WP3 / K. Nilsson / Viena September 11-13, 2002

  19. Sensor fusion and control WP3 / K. Nilsson / Viena September 11-13, 2002

  20. Demonstrator issues • Dynamic objects (cmp. RT-CORBA1.0, footprint??) • Object creation, system configuration, small nodes • What ORB(s)? Source code? • RT-JavaRT-CORBA mapping • Interaction with nonRT-CORBA • Open Communication Interface(OCI): Alternative transports for the broker; Time extensions. • Simulation of RT-CORBA…. WP3 / K. Nilsson / Viena September 11-13, 2002

  21. Visual servoing simulated WP3 / K. Nilsson / Viena September 11-13, 2002

  22. Desired Experiments • Visual servoing (customer feedback) • Arm control (built-in control), timing req. • Force control. CORBA objects encapsulating: • Sensors and actuators • controllers • Tool components (for intelligent systems)? with RT vs. nonRT properties. WP3 / K. Nilsson / Viena September 11-13, 2002

  23. Discussion Note: To find the videos referred to in earlier slides, but not properly managed by PowerPoint, visit http://www.control.lth.se/~robot WP3 / K. Nilsson / Viena September 11-13, 2002

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