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Saferdrill: Control Architecture of a Walking and Climbing Robot

Saferdrill: Control Architecture of a Walking and Climbing Robot. 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. A few words of acknowledgment….

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Saferdrill: Control Architecture of a Walking and Climbing Robot

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  1. Saferdrill: Control Architecture of a Walking and Climbing Robot 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 RISE’08 Workshop

  2. A few words of acknowledgment… SAFERDRILL is a EU funded project where cooperated the following partners... Roberto Zannini Consolidamento SAFERDRILL is the evolution of EU Roboclimber project, developed also with the support of ESA TTP programme RISE’08 Workshop

  3. Outline • Introduction and context of Saferdrill • Control architecture: big picture • Onboard control and gait strategies • Remote control • Conclusion and perspectives RISE’08 Workshop

  4. 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 RISE’08 Workshop

  5. Power generator Robotic Unit Navigation Onboard Electric Panel Engine/pumps Valves/sensors Ground Electric Panel 380 V Single Control Unit Wifi access point 220 V TM/TC Remote Control Tablet-PC Wifi antenna Rucksack with power cells Control board Control panel 12 V 2. Control architecture: big picture RISE’08 Workshop

  6. 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 RISE’08 Workshop

  7. 3. Onboard control and gait strategies Gait strategies => Walking gait: => Climbing gait: => Coordinated with ropes tensioning Always at least 3 legs in contact with the ground Sometimes, 2 legs only in contact with the cliff RISE’08 Workshop

  8. 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 RISE’08 Workshop

  9. 4. Remote control Tablet-PC software: RISE’08 Workshop

  10. 4. Remote control Tablet-PC GUI prototype: Moving mode Drilling mode RISE’08 Workshop

  11. 4. Remote control Tablet-PC commands and LED activation tuning: LED activation edition Command edition RISE’08 Workshop

  12. 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 RISE’08 Workshop

  13. 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 RISE’08 Workshop

  14. Thanks for your attention! RISE’08 Workshop

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