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I N T E R A C T I V E R O B O T I C S
IEEE/RSJ INTERNATIONAL CONFERENCE ON
INTELLIGENT ROBOTS AND SYSTEMS
2ND WORKSHOP ON ROBOTICS AND AUTOMATION IN NUCLEAR FACI LITIES
IROS 2015, HAMBURG, GERMANY
OCTOBER 2, 2015
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K
TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAIN S THE
DEVELOPMENT OF ASSISTIVE ROBOTS
PHILIPPE GARREC
INTERACTIVE ROBOTICS LABORATORY
• Telerobotics for the nuclear industry
Robotic arm ROLD ducting power laser beam to dismantle clusters of pipes (EU programme)
Project leader of the hexapod transporter robot Sherpa with the first transport of a heavy payload in a nuclear power
plant / Designer of the hexapod transporter robot Sherpa 2 for EDF’s nuclear plants
Pipe inspection robot for drainage network under a nuclear building (AREVA)
Design of the the force feedback master arm Virtuose 6D/ MAT6D (Haption™ product) - Invention of the ballscrew &
cable actuator (Screw-Cable-System)
Design of the force feedback upper limb exoskeleton ABLE 7D actuated by SCS (Haption™ product)
Project leader and principal designer of the force feedback slave arm STeP for retrieving cannisters in storage wells
(CEA)
Project leader and principal designer of the MT200 TAO force feedback telescopic telerobot replacing a standard MSM
in AREVA’s recycling plant hot-cells (Getinge-La Calhène product)
Principal designer of the giant manipulator for the maintenance of the Mega-Joule Laser (CEA defense project)
Convenor of the ISO Remote Handling Working Group (WG24) ; promoter of a standard for computer-assisted
teleoperation
Invited in the International Symposium on Decommissioning of TEPCO’s Fukushima Daiichi Nuclear Power Plant Unit
1-4 (2012)
• Other activities: R&D for the assistive lower limb exoskeleton Hercule (in collaboration with RB3D), force controlled actuators, theoretical work on force transfer in mechanisms and actuators
INTRODUCING MY EXPERIENCE IN NUCLEAR ROBOTICS
FORCE FEEDBACK TELEOPERATORS IN THE FRENCH NUCLEAR I NDUSTRY AND THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
• France is producing about 80% of its electricity by nuclear power plants (EDF)
• France recycles the nuclear fuel (AREVA) : La Hague plant is the principle user of teleoperation
(more than 500 MSM operational)
• The dismantling domain is a major field of application for telerobotics
• A continuous long term collaboration between CEA and AREVA
• Significant companies operating in the field of nuclear robotics: Getinge-La Calhène, ECA,
Cybernetix, Comex, Haption..
• R&D CEA activity concerns the whole range of related technologies (rad-hard electronics and
sensors, gamma/alpha camera, decontamination processes, real time dose rate estimation, rad-
hard communication network
• The CEA supports the emergency intervention robotic group GIE INTRA (a partner of the equivalent
German group KHG)
A FAVORABLE CONTEXT IN FRANCE FOR NUCLEAR ROBOTICS
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
BASIC CONCEPTS OF TELEOPERATION
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
UNILATERAL COUPLING
MASTER ARM SLAVE ARM
Load(weight, contact, etc.)
Sl
Operator
MlmMθ
mSθ
dSθ
( )m d
d m
S S S S
S M
T K θ θ
θ θ
= − −
=
Position control
Controller
SF
End effector vision(direct/indirect)
MASTER & SLAVE ARE 2 INDEPENDENT MECHANICALSYSTEMS
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
BILATERAL COUPLING
MASTER ARMSLAVE ARM
Load(weight, contact, etc.)
SF
MF
( )m d
d m
S S S S
S M
T K θ θ
θ θ
= − −
=
Slave position control
Controller
Sl
MlEnd effector vision
(direct/indirect)
EXTENDED SINGLE MECHANICAL SYSTEM
Master position control
( )m d
d m
M M M M
M S
T K θ θ
θ θ
= − −
=
ANALOGY WITH ELASTIC COHESION FORCES IN A ROD
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
PERFORMANCE IMPROVEMENT 1
STATIC BALANCING
Operator
masterm g
cosmasterg master masterT m g θ≡ − cos
slaveg slave slaveT m g θ≡ −
slavem g
Load(weight, contact, etc.)
MF SF
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
A NON LINEAR FORCE TRANSFER IS COMPROMISING JOINT TORQUE CONTROL :
Non linear spring
Non linear damper
Stick-slip (spatial for a multi-joint manipulator)
Detrimental to advanced guiding control(virtual mechanism)
EVERYBODY WANTS A LINEAR JOINT TORQUE CONTROL !
Torque control
Torque control
F k P= ∆
0F =
FORCE TRANSFER IN THE ACTUATOR
IRREVERSIBLE
Dissipative quadrant
i
0
Transmissive quadrant
Transmissive quadrant
Dissipative quadrant
M iη
M iρ
1R iρ −
0 infτ
outτ
inτ
1R iη −
J
I
REVERSIBLE
Dissipative quadrant
i
0
Transmissive quadrant
Transmissive quadrant
Dissipative quadrant
1R iη −
M iη
MOTORINGREGENERATING
M iρ
1R iρ −
Low torque zone
(obtained by prolongation of the
characteristics)
ω −
ω +
outτ
inτ0 infτ
0 outfτJ
I
ω +
ω −
ω −
ω +
ω +
ω −
“Telerobotics research and development at CEA LIST”P. Garrec and F. Geffard and O. David and F-X Russotto and Y. Measson and Y. PerrotANS EPRRSD - 13th Robotics & remote Systems for Haza rdous Environments • 11th Emergency Preparedness & Response - Knoxville, TN, August 7-10, 2011
"Dry friction modeling in dynamic identification for robot manipulators: Theory and experiments,"Kammerer, N.; Garrec, P., Mechatronics (ICM), 2013 IEEE International Conferen ce
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
PERFORMANCE IMPROVEMENT 2
FRICTION COMPENSATION
masterθɺ
Operator
( )masterf master master masterC sign fθ λθ= +ɺ ɺ
( )slavef slave slave slaveC sign fθ λθ= +ɺ ɺ
slaveθɺ
Load(weight, contact, etc.)
Active closed loop friction compensation(torque linearization)
Local force feedback
( )masterf master master masterT sign fθ λθ= +ɺ ɺ ( )
slavef slave slave slaveT sign fθ λθ= +ɺ ɺ
slaveθɺ
Load(weight, contact, etc.)
SFMF
SF
Model based friction compensation(torque linearization)
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
BACKDRIVABILITYVERSUS REVERSIBILITY (MECHANICALPROPERTY)
Mechanical type(constructive property)
Behaviour
Reversible Backdrivable
Irreversible Self-lockingBackdrivable
if assisted (force closed loop)
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
TELEROBOTICS R&D AT CEA LIST
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
FORCE FEEDBACK MASTER ARMS
Virtuose 6D / MAT6D for teleoperation (2001) � replacingthe MA23 (La Calhène)� First arm using ball-screw and cable for torque
amplification (patented)� Used in CEA’s laboratories and at AREVA a Hague plant
(RX TAO et MT200 TAO)
Virtuose 6D Haptic (2002)� Torque amplification by capstan or Harmonic Drive� Sold worldwide� Used by major industrials
All products industrialized and commercialized by HAPTION™
Virtuose 6D Haptic
Virtuose 6D / MAT6D
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
ADVANCED HAPTICS /TELOPERATION USING THE ARM EXOSKEL ETON ABLE 7D(INTEGRALLY ACTUATED BY SCREW AND CABLE)
ABLE 7D is commercialized by HAPTION™
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
SUPERVISED CONTROL – TRI-AGENT TELEOPERATION
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
SHERPA – Hexapod transporter(European TELEMAN program)
Based on the hexapod telescopic leggedtransporter Odex 3 (Odetics, USA)Original tactile feet (CEA patent)Original algorithms for stair climbing and obstacle avoidance using reflex reactionsFirst legged robot to be demonstrated in nuclearplantsTransport of 200 kg on stairs in « loose » teleoperation (EDF Chooz-B, France in 1993 and ENEL Trino in 1994)
CEA Fontenay-aux-Roses laboratory (early 1993)
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
EDF- PWR CHOOZ B - 1993
ENEL PWR TRINO - 1994
EXTENSIVE FIELD TESTS IN TWO NUCLEAR POWER PLANTS (1993 – 1994)
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
SHERPA 2 projet (CEA-EDF-TECHNICATOME) �1994-1998
A compact hexapod (55cm width) able to transport 300 kgDeployment of a power foldable arm carrierUse of a compact industrial arm as a tool(Mitsubishi PA10)New telescopic leg mechanical design (patents)ouvelle technologie de jambe compacte et modulaireBras porteur modulaire redondant (contournement des obstacles)Emport d’un outil de manipulation secondaireTechnologie en partie exploitée sur le robot de maintenance de la chambre d’expérimentation du LMJ
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
• Long reach articulated arm (AIA)
CEA LIST design and developement (since 1995)
First introduction in the TORE SUPRA tokamak achieved in 2008 (restart
of the installation the next day without « braking » the vacuum)
Applications forecasted at AREVA’s La Hague recycling plant
• Long reach telescopic arm
LMJ (Mega-Joule Laser) maintenance manipulator
Original design by CEA LIST (2004-2008) for the CEA DAM (CEA
defense division) based on CEA LIST patents (�Sherpa 2 project)
Industrialization by Cybernetix in collaboration with CEA LIST
Operational (automatic plug-in of protective panels) in 2012
LONG REACH MANIPULATORS
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Long reach articulated arm (AIA)
Real field test in the tokamak TORE SUPRA (2008)Operated at 120°C (200°C for degasing) and 10 -5 PaApplications in tokamak and hot-cells (undergoing)
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Long reach telescopic arm for theLMJ (Mega-Joule Laser)
100kg payload
12 m horizontal ext.
0,63m port diameter
Collapses in a 6m mobile casing
Centimetric hysteresis thanks to hyperstatic
lighweight telescopic structure (high repeatability)
Plug-in/out panels (50kg) automatically exploiting
manipulator’s compliance
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Dismantling – MAESTRO TAOSpecifically developed 100kg payload hydraulic force feedback telerobot by CEA and IFREMER Industrialization with CybernetixApplications in dismantling CEA’s laboratories (ongoing)
DISMANTLING WITH THE HYDRAULIC FORCE FEEDBACK TELER OBOT MAESTROY. Méasson, O. David, F.X. Russotto (CEA LIST), J.M. Idasiak (CEA, DEN), L. Facheris (Cybernétix)ANS EPRRSD - 13th Robotics & remote Systems for Haza rdous Environments • 11th Emergency Preparedness & Response - Knoxville, TN, August 7-10, 2011
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Maintenance operations – RX TAO telerobot
Industrial Stäubli RX robot adapted for force feedback teleoperation (hardened sensor and multiplexer)5 major interventions since 2005 in La Hague (dissolver wheel)
« TAO2000 V2 computer-assisted force feedback teleman ipulators used as maintenance and production tools at the AREVA NC–La Hague fuel recyc ling plant »Franck Geffard1, Philippe Garrec1, Gérard Piolain2, Marie-Anne Brudieu3, Jean-François Thro3, Alain Coudray4 and Eric Lelann4, Journal of Field Robotics, Special Issue: Applied R obotics for the Power Industry , Volume 29, Issue 1, pages 161–174, January/February 2012
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Hot-cell telescopic teleoperatorMT200 TAO
An ambitious tight pluri-annualcollaboration between the R&D (CEA) and the user (AREVA – La Hague)System replacing a standard telescopic mechanical
master slave (4 m extension ; 20 kg capacity)
Slave actuator unit with force-vented motors (high
transparency without force sensor)
Master arm Virtuose 6D
TAO 2000 software : bilateral coupling, virtual guides,
automatic robotic modes
First functional prototype at CEA 2004
Validation in AREVA Hague hot-cell2011
« TAO2000 V2 computer-assisted force feedback teleman ipulators used as maintenance and production tools at the AREVA NC–La Hague fuel recycling plant »Franck Geffard1, Philippe Garrec1, Gérard Piolain2, Marie-Anne Brudieu3, Jean-François Thro3, Alain Coudray4 and Eric Lelann4, Journal of Field Robotics, Special Issue: Applied R obotics for the Power Industry , Volume 29, Issue 1, pages 161–174, January/February 2012
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Examples of up-to-datetelerobotics systems
Slave arm(s)
Master device(s) control unit
ethernet
« Cold » zone « Hot » zone
Low latency link
3D HMITuning, …
Em
ergency stop…
»Cellule froide »Cellule haute activité
CONTRÔLE POSITION EFFORT
CONTRÔLE BILATERAL
MAITRE ESCLAVE
CONTRÔLE POSITION EFFORT
XMd
XMm
XMd
XMm
Functional scheme
Promotion of a standard for telerobotics
ISO - TC85 - SC2WG 24 - Remote handling devices for radioactive materials
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
KEY TECHNOLOGIES FOR NUCLEAR TELEROBOTICS
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Full response for targeted systems
In/Out-doors mobile robotsIn/Out-doors cranes Inspection toolsElectric or hydraulic manipulators
Validation for radioactive environments
From 1 kGy to 100 kGyFault-tolerance
On sites since 1992Up-grading with recent electronic technologiesHardening to specific environments (temperature, neutrons)Adaptation to existing or new equipments (traveling cranes, cutting and soldering tools, ….)
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Preparationof the mission
Simulationof the scenario
Execution
Scenario qualificationOperator training
Supervision and operator assistance
Scenario definition on the digital mock up
Dismantling Life Cycle :To simulation, from concept up to task completion
Accessibility studies, dose rate evaluat°, task définit°
kinematics optimization
Real-time simulation with haptics, interactive training
Operator assistance and scenario Execution
Same content, context, and tools
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
VIRTUAL REALITY & INTERACTIVE SIMULATION WORKS
• Virtual prototyping : accessibility studies, assembly/disassembly on digital mock-up
• Ergonomy studies : musculo-skeleton disorders diagnosis, task optimization
• Robotics simulation / supervision : intervention scenario, assistance to cobotic solution design
• Training of the operators
REAL-TIME MULTI-PHYSICS SOFTWARE (EXTENDED DYNAMIC ENGINE)
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
THE DEPLOYMENT OF MT200 TAOAT AREVA –HAGUE REPROCESSING PLANT
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Courtesy of AREVA / GETINGE LA CALHENE
MT200 GETINGE-LA CALHÈNEMECHANICAL MASTER-SLAVE MANIPULATOR
The MT200 remote operating system is a thru-wall mechanicalmaster-slave manipulator (MSM) with telescopic arms.
Both arms are driven by gears, cables or a combination of both
The thru-wall transmission uses rotating shafts to couple the twoarms
Around 600 MT200 units are used at AREVA La Hague recycling plant,
with a total of more than1000 worldwide
Slave arm
Mechanical
master arm
Wall transmission tube
Wall
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Up to 50m
Up to 100m
Slave Arm
Motion Module
ElectricalCabinet
Master Arm
Master Arm
HMI
MT200-TAO
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
MT200-TAO
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Slave ArmRetracted
Length(mm)
Extended Length(mm)
990 2070
1190 2670
1380 3270
1580 3650
1760 4010
1960 4410
� Disconnectable slave arms
� MT 200 TAO system drives these 6 arms types,
selection made at start of work through touch screen
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
FEATURES OF TAO SYSTEMS
Cartesian control
Coherent and homothetical force feedback
Compact master arm without telescope
Single “intuitive” indexing push button
Hostile environment
W
»MT200TAO
»MT 200 TAO
Cold zone(accessible to the
staff)
Inspectionwindow
Tool weight compensation
High safety thanks to deadman gripper control
Virtual mechanisms (e.g. 3D guidingfunctions)
Indirect vision (camera) with automatictracking of the gripper
W x COS(α)
α
WW (Ls/Lm) COS(α)
W/H
No
mechanical
link
W
α
LEGENDW Weightα AngleLs Length of slave armLm Length of Master ArmH Homothetic Ratio
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
MT200 TAO CONTRIBUTIONS
Operationalgains
Permanent ideal working position, Reduced Effort, Safety Templates, Vibration Filtering, Improved MMIBring significant operational improvement by reduction o f fatigue of the user, resulting in better accuracy and efficiency in the long runIncreased reliability of the equipment
Dosimetry gain By permitting a distance between the use r and the cellBy reducing the working time through increase of effici ency
Technicalperformance
Increase in the Volume of work (area coverage), by 3Robotised mode
And more Future benefits : shielded windows avoidance , one roomcentralized control of manipulators, remote operati on Future developments : operation from the ceiling of the cell, operation from a mobile gantry inside the cell, hea vy manipulator
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
• Users: 90% have appropriated the TAO system
• Operating gain in efficiency (time related to a work)
• 60 to 65% through increase in operating time (less tiredness)
• 20% through more accurate movements
• The slave arm has lasted 5 times longer than with a conventional MT200
OPERATIONAL RESULTS
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
TERMANA NEW FORCE FEEDBACK TELESCOPIC ARM DRIVEN WITHOUT CABLES
Courtesy of GETINGE LA CALHENE
FROM FORCE FEEDBACK TELEROBOTS TO ASSISTIVE ROBOTS
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Operator7 axis
Master Arm6 axis
Slave Arm6 axis
Load
W���
Handle Gripper
Mechanical transmissions(joint-to-joint)
Weight
cR���
Contact force
( ) ( ) 1 1cW R K+ −���� ���
( )Force feedback
cW R K− +��� ���
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Operator Master ArmHand/Handle
Slave Arm LoadGripper
W���
cR���
Contact force
Weight
Cartesian position coupling (computed by controller)
( )Force feedback
cW R K− +��� ���
Mechanical master-slave manipulator (MSM)
Cartesian Computer-Assisted-Teleoperation (CAT)
Master force loop
Slave force loop
Cobot(balancer/amplifyer)
Slave arm LoadGripper
OperatorHandle
W���
cR���
Contact force
Weight
Force sensors( )Force feedback
cW R K− +��� ���
HERCULE HV3INNOROBO 2014 – Lyon, FRANCE
HERCULE HV2A.6.156D FORCE AMPLIFIER
COBOMANIPBALANCER WITH GUIDANCE CAPABILITY
« Cobomanip: a new generation of Intelligent Assist De vice » Olivier David, CEA, LISTSylvain André, Sarrazin TechnologiesFares Kfoury, CEA, LISTPhilippe Garrec, CEA, LISTConference ISR ROBOTIK 2014
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
RECEPTION TESTS IN LABORATORY
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
The Amazon Robotics Challenge. And, the winner is...Of 25 teams from around the world, the winner of the Amazon Robotic Bin-Picking Challenge is the Technische Universität Berl in using Barrett's WAM robotic arm (29th May 2015).
Actuator technology
Torque amplification by cable capstan
drive (same as a desktop haptic arm)
Open loop torque control (“true joint
torque” quoted from Barrett folder)
Suggested lessons..
Open loop torque control is as at least as
efficient as close-loop torque control
A relatively flexible robot (cable
combined with low reduction ratio)
successfully achieves industrial
manipulation task
Capstan(adherence)
eJoint transmission
cable
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
SYBOT: A COOPERATIVE ROBOT
Very Safe Light Weight RobotWorkspace sharingForce controlled tasks
Features:Force / torque control without sensor (open loop)New high stiffness SCS actuatorsPayload 8 – 12 kgIntuitive programming by learning
Safety:Collision detection based on
dynamic model survey
Presented in April 2015 in a 3 joints version
NEW !
Belt
Motor
Hollow screw
Rotating nut
Cable push-pull loop
Flexible anti-rotation coupling
Cable sleevesBearing
Limb
Cable sleeve
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
• Force feedback telerobotics enters production in nuclear recycling plants (TRL 9)
• Yet, no significant contribution of force feedback telerobotics in dismantling/post-accidental robotics
• Its diffusion requires interoperable components and the creation of a standard
• The new horizon of hand-to-hand teleoperation: a necessity and still a dream…
The ultimate achievement for teleoperation and the promise of a much higher productivity ; Soon a necessity
in certain gloveboxes ?
What type of hand/finger arrangement ?
The difficult challenge of a robust design.
The challenge of a high-fidelity force transfer through the long master/slave loop..
• A high potential of force feedback telerobotics for working underwater
• Short distance teleoperation can be useful in the general industry to access cumbersome, eliminate
the risk of collision with a manipulator, and remove the operator from dangerous zone (aerosols,
chemical hazards, heat, noise, etc.)
• Force feedback telerobotics and assistive robotics (cobotics): common roots and an opportunity to
boost both fields of applications and drop costs
CONCLUSION AND NEW CHALLENGES
THE DEPLOYMENT OF A NEW GENERATION OF FORCE FEEDBAC K TELEOPERATORS IN THE FRENCH NUCLEAR INDUSTRY SUSTAINS THE DEVELOPMENT OF ASSISTIVE ROBOTSWORKSHOP ON RANUF IROS 2015 - PHILIPPE GARREC
Direction Recherche TechnologiqueDépartement Intelligence Ambiante et Systèmes InteractifsLaboratoire Robotique Interactive
Commissariat à l’énergie atomique et aux énergies alternatives
Institut Carnot CEA LIST
CEA SACLAY – DIGITEO MOULON - DRT/LIST/DIASI
Point courrier n°178 - 91191 GIF SUR YVETTE CEDEX
T. +33 (0)1 69 08 07 07
Etablissement public à caractère industriel et commercial | RCS Paris B 775 685 019
| PAGE 46
CEA | 10 AVRIL 2012