saferdrill: control architecture of a walking and climbing robot
DESCRIPTION
Saferdrill: Control Architecture of a Walking and Climbing Robot. Giorgio PezzutoD’Appolonia Spa (Italy) Jeremi GancetSpace Applications Services N.V. (Belgium) Samir NabulsiIAI-CSIC (Spain). http://www.dappolonia-research.com/saferdrill. A few words of acknowledgment…. - PowerPoint PPT PresentationTRANSCRIPT
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Saferdrill: Control Architecture of a Walking and Climbing Robot
Benicassim, 7-8 January, 2008RISE’08 Workshop
Giorgio Pezzuto D’Appolonia Spa (Italy)
Jeremi Gancet Space Applications Services N.V. (Belgium)
Samir Nabulsi IAI-CSIC (Spain)
http://www.dappolonia-research.com/saferdrill
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RISE’08 Workshop
SAFERDRILL is a EU funded project where cooperated the following partners...
Roberto Zannini Consolidamento
Benicassim, 7-8 January, 2008
A few words of acknowledgment…
SAFERDRILL is the evolution of EU Roboclimber project, developed also with the support of ESA TTP programme
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Outline
1. Introduction and context of Saferdrill
2. Control architecture: big picture
3. Onboard control and gait strategies
4. Remote control
5. Conclusion and perspectives
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1. Introduction and context of Saferdrill
Saferdrill motivations:• Aim: cliffs consolidation
• Assets:
– Reduces human exposition to danger
– Reduces environmental impact
– Reduces cost and time to perform operations (to be confirmed!)
Saferdrill in a few numbers: • 4 legs, 2 ropes walking & climbing robot
• 3 tons, car size
• 20 meters deep holes drilling
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2. Control architecture: big picture
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Benicassim, 7-8 January, 2008RISE’08 Workshop
Robotic Unit
Remote Control
Onboard Electric Panel
Single Control Unit
Navigation
Engine/pumps
Valves/sensors
Wifi access point
Ground Electric Panel
Rucksack with power
cells
Control board
Tablet-PC Wifi antenna
Control panel
Power generator
TM/TC
380 V
220 V
12 V
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3. Onboard control and gait strategies
Control unit
=> starts / stops engines, pumps and hydraulic valves
=> read and format signal from sensors and video camera
=> implements a server for TM production and TC requests reception
=> PID control
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3. Onboard control and gait strategies
Gait strategies
=> Walking gait:
=> Climbing gait:
=> Coordinated with ropes tensioning
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Always at least 3 legs in contact with the ground
Sometimes, 2 legs only in contact with the cliff
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4. Remote control
Remote control components:
=> Hard case
=> Control panel and electronics
=> Tablet-PC
=> Power cells (rucksack)
Control board (RCU):
=> EEPROM based
=> 32 channels for digital OUT
=> 80 channels for digital IN
=> serial connection to the tablet-PC
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4. Remote control
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Benicassim, 7-8 January, 2008RISE’08 Workshop
Tablet-PC software:
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4. Remote control
Tablet-PC GUI prototype:
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Benicassim, 7-8 January, 2008RISE’08 Workshop
Moving mode Drilling mode
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4. Remote control
Tablet-PC commands and LED activation tuning:
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Command edition
LED activation edition
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5. Conclusion and perspectives
Conclusion
=> Remote monitoring and control approach offers a flexible way to define and tune control elements’ behaviors
=> First laboratory and field tests show a ~20% reduction in the time needed for operations, compared to non-robotic operations
=> Field tests confirmed the feasibility of remotely control and monitor the cliff consolidation process with Saferdrill
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5. Conclusions and perspectives
Perspectives=> Navigation module: 3D stereo bench development, integration
and testing in progress
=> Geological interpretation module
=> Further pre-industrialization of the Saferdrill prototype is ongoing
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Thanks for your attention!
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