HRTC Hard Real-time CORBA IST WP3 / K. Nilsson / Viena September 11-13, HRTC Robot Testbed

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Outline Industrial robotics Labs: Applications & control. Interfacing an industrial system. Components and control; architecture. Application specific control. Demonstrator issues. Desired experiments.

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 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

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Using 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.

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Complete ABB software and hardware External control interface added (orange opto-cable, right)

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Bus adapters Shared memory interface to external controller PCI/VME, e.g.

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, JR3 Force Sensors

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, PCI VME Force data Force data

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, SafetySafety Plug-in Software Architecture Multi-layered feedback: Sensors, motors, environment Servo Int.Sens. Motion ExecuteTask Path Traj. External Sensor 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

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Using the S4C+ controller RAPID ARAC Motor control Trajectory generation Arm control ArmTool RAP/RPC Application …… Work Task description ABB controller+Robot Cell-control system ForceFeedback

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

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 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.

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, RTW components (->CORBA?) Computing: IO & Sens:

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Control control

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Joint sensing Axis ETRAX 100M Sw. Ether. AD RDC

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, ABB-Cabinet + VME-PPC CPU-boards VME/PPC Drive electronics Axis ETRAX

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Application-specific feedback High performance tight/local feedback. High-level interfaces supporting application Open Robot Control Model-based, safe, modular, and flexible. based on industrial ABB robots (reconfigured) Real-time performance test:

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Networked visual feedback 2D+time 3D operation (not 3D reconstruction):

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Sensor fusion and control

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 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….

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Visual servoing simulated

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Desired Experiments 1.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.

HRTC IST Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, Discussion Note: To find the videos referred to in earlier slides, but not properly managed by PowerPoint, visit