2. HRTC Hard Real-time CORBA IST 37652 WP3 / K. Nilsson / Viena September 11-13, 2002 1 HRTC Robot Testbed klas@{cs|control}.lth.se

3. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 20022 Outline Industrial robotics Labs: Applications & control. Interfacing an industrial system. Components and control; architecture. Application specific control. Demonstrator issues. Desired experiments.

4. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 20023 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

5. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 20024 Laboratories @LTH.se 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.

6. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 20025 Irb-2400/S4C+ @lth.se Complete ABB software and hardware External control interface added (orange opto-cable, right)

7. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 20026 Bus adapters Shared memory interface to external controller PCI/VME, e.g.

8. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 20027 JR3 Force Sensors

9. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 20028 PCI VME Force data Force data

10. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 20029 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

11. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200210 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

12. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200211 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

13. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200212 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.

14. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200213 RTW components (->CORBA?) Computing: IO & Sens:

15. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200214 Control lab @ control

16. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200215 Joint sensing Axis ETRAX 100M Sw. Ether. AD RDC

17. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200216 ABB-Cabinet + VME-PPC CPU-boards VME/PPC Drive electronics Axis ETRAX

18. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200217 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:

19. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200218 Networked visual feedback 2D+time 3D operation (not 3D reconstruction):

20. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200219 Sensor fusion and control

21. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200220 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….

22. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200221 Visual servoing simulated

23. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200222 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.

24. HRTC IST 37652 Hard Real-time CORBA WP3 / K. Nilsson / Viena September 11-13, 200223 Discussion Note: To find the videos referred to in earlier slides, but not properly managed by PowerPoint, visit http://www.control.lth.se/~robot