Download - HRTC Robot Testbed
WP3 / K. Nilsson / Viena September 11-13, 2002
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HRTC
Hard Real-time CORBA
IST 37652
HRTCHRTCRobot Robot TestbedTestbed
klas@{cs|control}.lth.se
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IST 37652Hard Real-time CORBA
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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IST 37652Hard Real-time CORBA
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