Motion Planning at EDF: Opportunities and Key Issues Jean-Louis Bouchet, EDF R&D Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 1 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Outline Outline � Background, EDF R&D Robotics Group � Operations to be performed � Hardware and software equipment � A Detailed Example : Repair of pipes on the main primary coolant circuit � Other simulation examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 2 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
� Background, EDF R&D Robotics Group � Operations to be performed � Hardware and software equipment � A Detailed Example : Repair of pipes on the main primary coolant circuit � Other simulation examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 3 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Background, EDF R&D Robotics Group EDF is the french power generating utility - Operates 58 PWR power plants - Important requirements for maintaining the profitability while applying mandatory safety rules � Operations to be performed Reducing cost per kWh Increasing operating lifetime Maintenance optimization � Hardware and software equipment Maximize avalilability � Repair of pipes on As Low As Reasonably Achievable dose to humans the main primary coolant circuit EDF R&D Robotics Group roles : � Other simulation examples - to study the feasability of repair of critical components, in order to extend their lifetime - to optimize the maintenance operations by developing advanced methods and tools - to prove the feasibility and advantages of robotised operations Two main skills : simulation and robotics Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 4 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Typical operations to be performed A typical repair of a component includes part or all of � Background, the following operations : EDF R&D Robotics Group - Localization and characterization of the defect using non destructive controls (liquid penetrant, ultrasonic inspection…) - Removal of the defect by machining (grinding, milling, EDM…) � Hardware and software equipment - Refilling of the removed volume by welding (GTAW, GTAW � Repair of pipes on temper bead…) the main primary coolant circuit � Other simulation - Final surface finishing (grinding, brushing, polishing) examples - Final control of repaired surface Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 5 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
A big task environment characterization work � Background, EDF R&D Robotics Group � Hardware and software equipment � Repair of pipes on the main primary coolant circuit � Other simulation examples Laser scanning 3D « As Built » CAD Model Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
� Background, EDF R&D Robotics Group � Operations to be performed � Hardware and software equipment � A Detailed Example : Repair of pipes on the main primary coolant circuit � Other simulation examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 7 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Hardware equipment - 6 or 7 axes industrial arms � Background, EDF R&D Mitsubishi PA10 Robotics Group Staübli RX60 � Operations to be performed - Arm carrier : Specific (Victor) - Tools and tools dispenser � Repair of pipes on - Instrumentation the main primary coolant circuit Video cameras : standard or dedicated to the process � Other simulation Other sensors : pressure, temperature, radiation… examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 8 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Software equipment, advanced control modes Geometric modelization SolidWorks, Robcad � Background, Robot model, path planning, ActWeld EDF R&D Robotics Group Base placement ??? Robot control StartControl � Operations to be performed Two advanced control modes of the robot have been developed and used Force-controlled Efficient for tool grasping Vision-controlled � Repair of pipes on the main primary coolant circuit � Other simulation examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 9 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
START – CONTROL Software � Background, CAD System SUPERVISION Real Time Robot Control EDF R&D Robotics Group � Operations to be Scenarios CADModeling Supervision performed authoring Ordonnanceur 3D Monitoring Path Planning Movements Database Path Generation generation Simulation Simulation Simulation Simulation � Repair of pipes Command on the main Graphical Calibration rules primary coolant Analysis circuit Visualization Input/Output Data storage � Other simulation � Robots examples � Tools � Sensors Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
START – CONTROL Software � Advanced Control Modes � Background, EDF R&D Robotics Group � Operations to be performed � Repair of pipes on the main primary coolant circuit � Other simulation examples Force controled mode Automatic grasping using vision controled mode Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
� Background, EDF R&D Robotics Group � Operations to be performed � Hardware and software equipment � A Detailed Example : Repair of pipes on the main primary coolant circuit � � Other simulation examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 12 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Repair of pipes on the main primary coolant ci Repai r of pipes on the main primary coolant circui rcuit � Branch connection affected by a defect due to thermal fatigue � Background, EDF R&D Robotics Group RCV � Operations to be performed � Hardware and software equipment CPP � Other simulation examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 13 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Repair of pipes on the main primary coolant ci Repai r of pipes on the main primary coolant circui rcuit In such a case, different scenarios of intervention are � Background, usually proposed by our maintenance providers : EDF R&D Robotics Group � Operations to be � either the replacement of the full branch connection, performed � Hardware and � or the development of specific machines dedicated to the intervention software equipment The R&D project was aimed at showing the technical feasability and the merit of a robotic repair inside the pipe � Other simulation examples Physical demonstration on a mock up was a success � Main issue for EDF : to convince maintenance service providers of robotics approach benefits Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 14 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Repair of pipes on the main primary coolant ci Repai r of pipes on the main primary coolant circui rcuit 1 st phase : checking the accessibility of the robot to the place to be repaired, using 3D modelling and simulation � Background, EDF R&D Robotics Group � Operations to be performed Introduction by the � Hardware and software equipment vessel Motion inside � Other simulation the pipe (elbow) examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 15 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Repair of pipes on the main primary coolant ci Repai r of pipes on the main primary coolant circui rcuit 2 nd phase : development and tests of the different procedures � Background, of the maintenance operation EDF R&D Robotics Group � Operations to be - Positioning inside the pipe performed � Hardware and software equipment - Machining by milling - Penetrant inspection � Other simulation examples - Welding - Brushing and final inspection Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 16 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
� Background, EDF R&D Robotics Group � Operations to be performed � Hardware and software equipment � A Detailed Example : Repair of pipes on the main primary coolant circuit � Other simulation examples Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE 17 RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Off Line Robot Programming Off Line Robot Programming � Background, � Robot under a EDF R&D Robotics Group reactor’s � Operations to be vessel performed � Hardware and software equipment � Repair of pipes on the main primary coolant circuit Motion Planning at EDF: Opportunities and Key Issues ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT MOVIE Workshop – Toulouse, 01’ 2005
Recommend
More recommend
