Next Generation of Collaborative Robots

Transcription

1 Next Generation of Collaborative Robots French-Japanese Conference 26 February 2014 Embassy of France in Japan, Tokyo Vision based Control of multi-arms systems Authors P., A. Abou Moughlbay, P. Long, W. Khalil Ecole Centrale de Nantes Researcher at IRCCyN INS2I INSB Nantes 350km south-west of Paris 2

2 Content IRCCyN Robotics Team Presentation EMARO 3 INS2I INSB 4

3 INS2I INSB 5 INS2I INSB 6

4 INS2I INSB 7 INS2I INSB 8

5 INS2I INSB 9 Content IRCCyN Robotics Team Presentation EMARO 10

6 ROBOTICS research team Leader : Wenger IRCCYN - CNRS/ECN February Robotics Team at IRCCYN Head: P. Wenger (52 members) 3DR, 2CR, 7PR, 6MCF, 1IR, 27 PhD, 6IR, 1 Ater Y. Aoustin, MC (HDR) Nantes University V. Arakelyan, PR INSA Rennes F. Boyer, PR EMN S. Briot, CR CNRS J-C. Cadiou, PR Nantes University S. Caro, CR CNRS D. Chablat, DR CNRS C. Chevallereau, DR CNRS A. Chriette, MC ECN M. Gautier, PR Nantes University W. Khalil, PR ECN P. Lemoine, IR ECN G. Levey, MC EMN P., PR ECN A. Pashkevich, PR EMN M. Porez, MC EMN P-P. Robet, MC IUT St Nazaire S. Sakka, MC Poitiers University P. Wenger, DR CNRS 12

7 Research organization Production Robotics S. Carot Mobile Robotics P. Humanoid Robotics C. Chevallereau Bio inspired Robotics F. Boyer Perception and Interaction Design methodologies Modeling, identification and control 13 Research organization Production Robotics S. Carot Mobile Robotics P. Parallel Robots Parallel Wired robots Process robotics Safe & Autonomous navigation Formation & platoon navigation Control/observation of UAV Humanoid Robotics C. Chevallereau Bio inspired robotics F. Boyer Human Modelling Humanoid Control Humanoid/Human Interaction Locomotion Electrolocation 14

8 Content IRCCyN Robotics Team Presentation EMARO 15 Next Generation of Collaborative Robots French-Japanese Conference 26 February 2014 Embassy of France in Japan, Tokyo Vision based Control of multi-arms systems Authors P., A. Abou Moughlbay, P. Long, W. Khalil Ecole Centrale de Nantes Researcher at IRCCyN

9 Vision based Control of multi-arms systems Authors P., A. Abou Moughlbay, P. Long, W. Khalil Content of presentation 17 Redundancy 18

10 Redundancy 19 Redundancy 20

11 Redundancy 21 Benefit from robotic system's redundancy to execute several service tasks simultaneously 22

12 Methodology 23 Multi control point approach 24

13 Multi control point approach 25 Multi control point approach 26

14 Multi control point approach 27 Multi control point approach 28

15 Multi control point approach 29 Multi control point approach 30

16 Task/constraint definition 31 Task sequencing 32

17 Task sequencing and redundancy resolution 33 Redundancy resolution methods 34

18 Redundancy resolution methods 35 Redundancy resolution methods 36

19 Redundancy resolution methods 37 Redundancy resolution methods 38

20 Redundancy resolution methods 39 Redundancy resolution methods 40

21 Redundancy resolution methods 41 Redundancy resolution methods 42

22 Redundancy resolution methods 43 Redundancy resolution methods 44

23 Redundancy resolution methods 45 Control laws comparison 46

24 Comparison results 47 Unified projection operator Pw 48

25 Unified projection operator P w 49 Generalized projection operator P β 50

26 Robotic and software platforms 51 Robotic and software platforms 52

27 ARMS project 53 ARMS project: Application scenario 54

28 ARMS project: Application scenario 55 ARMS project: results 56

29 HRP2 : application scenario 57 HRP2 : results 58

30 Assistive and service tasks 59 Assistive and service tasks 60

31 Localization and Assistive tasks 61 Manipulation with NAO 62

32 Manipulation with NAO 63 64

33 Future works 65 Any questions 66

34 Content IRCCyN Robotics Team Presentation EMARO 67 MASTER tracks strategies EMARO: International Master on Advanced Robotics (2/3) Track 1: Typical EMARO Curriculum M1-E1 Consortium in 2012 Track 2: Typical local Master Curriculum M1-E1 M2-E2 S4-ASIA S4-IIG M2-E1 Master EMARO ASIA AIT, SJTU, STKU Master E1 Track 3: Double & Joint degree with Asian Partners within EMARO M1-E1 M1-SJTU M1-E1 M1-STKU M2-SJTU M2-E1 M2-STKU M2-E1 S5 SJTU or E1 Joint degree E1-STKU M1: 1 st year M2: 2 nd year S4: 4 th semester E1,E2 ECN, UNIGE, WUT M1: 1 st year M2: 2 nd year Double degree E1-SJTU M1-E1 M1-AIT 68 M2-AIT M2-E1 Double degree Vision-based E1-AIT control of E1 ECN, UNIGE, WUT

35 EMARO: International Master on Advanced Robotics (2/3) Coordinators: W. Khalil and P. Consortium in 2014 WUT Warsaw, Poland ECN Nantes, France UNIGE Genova, Italy EMARO European Master on Advanced Robotics Coordinator: ECN AIT Bangkok,Thailand SJTU Shanghai, China STKU 69