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HRTCHRTCRobot Robot TestbedTestbed

klas@{cs|control}.lth.se

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Outline

Industrial robotics

Labs: Applications & control.

Interfacing an industrial system.

Components and control; architecture.

Application specific control.

Demonstrator issues.

Desired experiments.

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Industrial RoboticsIndustrial 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

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Laboratories @LTH.seLaboratories @LTH.seUsing ABB Robots, in two labs:

1. Advanced control; fully reconfigurable controller, replacing all ABB SW.

2. Advanced applications; extendable (during run-time) controller utilizing ABB controller (HW&SW).

Primarily lab 1 (two robots) will be used.

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Irb-2400/S4C+ @lth.seIrb-2400/S4C+ @lth.se Complete ABB software and hardware External control interface added (orange opto-cable, right)

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Bus adaptersBus adapters

Shared memory interface to external controller PCI/VME, e.g.

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JR3 Force SensorsJR3 Force Sensors

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VME

Force dataForce data

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SafetyP

lug-in

Plug-in

Plug-in

Plug-in

Plug-in

Plug-in

Plug-in

Plug-in

Plug-in

Software ArchitectureSoftware Architecture

Multi-layered feedback:

Sensors, motors, environment

ServoInt.Sens.

Motion

Execute

TaskTask

Path

Traj.

External S

ensor signals

• Bad actions prevented.

• Config. on-line; plugins

– fast; high performance

– slow; reasoning/planning

• Extra sensing:

• Task/Motion/Trajectory

• Built-in motor control with fixed sensing

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Using the S4C+ controllerUsing the S4C+ controller

RAPID

AR

AC

Motorcontrol

Trajectorygeneration

Armcontrol Arm Tool

RAP/RPC

Application …… WorkTask description

ABB controller +Robot

Cel

l-co

ntro

lsy

stem

ForceFeedback

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Extending the S4C+ Extending the S4C+ controllercontroller

RAPID

AR

AC

Motorcontrol

Computing+coordination

Forcecontrol JR3

Trajectorygeneration

Armcontrol Arm

Work-station

ToolRAP/RPC External

control

Bus adapters

Application …… WorkTask description

ABB controller +Robot

Cel

l-co

ntro

lsy

stem

PCI

VME

Embedded real-time shared-memory controlS4-Extension

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CORBA for packaging?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.

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RTW components RTW components (->CORBA?)(->CORBA?)

Computing:

IO & Sens:

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Control lab @ controlControl lab @ control

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Joint sensingJoint sensingA

xis

ETR

AX 100M Sw. Ether.

AD

RD

C

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ABB-Cabinet + VME-PPCABB-Cabinet + VME-PPC

CPU-boardsVME/PPC

Drive electronics

Axis ETRAX

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Application-specific feedbackApplication-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:

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Networked visual feedbackNetworked visual feedback

2D+time 3D operation (not 3D reconstruction):

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Sensor fusion and controlSensor fusion and control

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Demonstrator issuesDemonstrator issues Dynamic objects (cmp. RT-CORBA1.0,

footprint??) Object creation, system configuration, small

nodes What ORB(s)? Source code? RT-JavaRT-CORBA mapping Interaction with nonRT-CORBA Open Communication Interface(OCI): Alternative

transports for the broker; Time extensions. Simulation of RT-CORBA….

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Visual servoing simulatedVisual servoing simulated

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Desired ExperimentsDesired Experiments1. Visual servoing (customer feedback)2. Arm control (built-in control), timing req.3. Force control.CORBA objects encapsulating: Sensors and actuators controllers Tool components (for intelligent

systems)?with RT vs. nonRT properties.

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Discussion

Note: To find the videos referred to in earlier slides, but not properly managed by PowerPoint, visit http://www.control.lth.se/~robot