IEEE/RSJ INTERNATIONAL CONFERENCE ON 08, 2015 · IEEE/RSJ INTERNATIONAL CONFERENCE ON ... plant / Designer of the hexapod transporter robot Sherpa 2 for EDF’s nuclear plants Pipe

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


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


BILATERAL COUPLING

MASTER ARMSLAVE ARM


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


PERFORMANCE IMPROVEMENT 1

STATIC BALANCING

Operator

masterm g

cosmasterg master masterT m g θ≡ − cos

slaveg slave slaveT m g θ≡ −

slavem g


MF SF


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



M iη

M iρ

1R iρ −

0 infτ

outτ

inτ

1R iη −

J

I

REVERSIBLE


i

0




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


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


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


SFMF

SF

Model based friction compensation(torque linearization)


BACKDRIVABILITYVERSUS REVERSIBILITY (MECHANICALPROPERTY)

Mechanical type(constructive property)

Behaviour

Reversible Backdrivable

Irreversible Self-lockingBackdrivable

if assisted (force closed loop)


TELEROBOTICS R&D AT CEA LIST


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


ADVANCED HAPTICS /TELOPERATION USING THE ARM EXOSKEL ETON ABLE 7D(INTEGRALLY ACTUATED BY SCREW AND CABLE)

ABLE 7D is commercialized by HAPTION™


SUPERVISED CONTROL – TRI-AGENT TELEOPERATION


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)


EDF- PWR CHOOZ B - 1993

ENEL PWR TRINO - 1994

EXTENSIVE FIELD TESTS IN TWO NUCLEAR POWER PLANTS (1993 – 1994)


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


• 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


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)


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


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


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


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


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


KEY TECHNOLOGIES FOR NUCLEAR TELEROBOTICS


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, ….)


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


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 MT200 TAOAT AREVA –HAGUE REPROCESSING PLANT


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


Up to 50m

Up to 100m

Slave Arm

Motion Module

ElectricalCabinet

Master Arm

Master Arm

HMI

MT200-TAO


MT200-TAO


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


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


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


• 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



TERMANA NEW FORCE FEEDBACK TELESCOPIC ARM DRIVEN WITHOUT CABLES

Courtesy of GETINGE LA CALHENE

FROM FORCE FEEDBACK TELEROBOTS TO ASSISTIVE ROBOTS


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− +��


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


RECEPTION TESTS IN LABORATORY


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


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


• 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


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

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IEEE/RSJ INTERNATIONAL CONFERENCE ON 08, 2015 · IEEE/RSJ INTERNATIONAL CONFERENCE ON ... plant / Designer of the hexapod transporter robot Sherpa 2 for EDF’s nuclear plants Pipe