Motion Planning at EDF: Opportunities and Key Issues Jean-Louis - - PowerPoint PPT Presentation

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Motion Planning at EDF: Opportunities and Key Issues

Jean-Louis Bouchet, EDF R&D

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Outline Outline

Background, EDF R&D Robotics Group Hardware and software equipment Operations to be performed A Detailed Example : Repair of pipes on the main primary coolant circuit Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Background, EDF R&D Robotics Group

Hardware and software equipment

Operations to be performed

A Detailed Example : Repair of pipes on the main primary coolant circuit Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues 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 Reducing cost per kWh Increasing operating lifetime Maintenance optimization Maximize avalilability As Low As Reasonably Achievable dose to humans

EDF R&D Robotics Group roles :

• 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

Repair of pipes on the main primary coolant circuit Other simulation examples Operations to be performed Hardware and software equipment

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Typical operations to be performed A typical repair of a component includes part or all of the following operations :

• Localization and characterization of the defect using non destructive

controls (liquid penetrant, ultrasonic inspection…)

• Removal of the defect by machining (grinding, milling, EDM…)
• Refilling of the removed volume by welding (GTAW, GTAW

temper bead…)

• Final surface finishing (grinding, brushing, polishing)
• Final control of repaired surface

Hardware and software equipment Repair of pipes on the main primary coolant circuit Background, EDF R&D Robotics Group Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

A big task environment characterization work

Repair of pipes on the main primary coolant circuit Background, EDF R&D Robotics Group Other simulation examples Hardware and software equipment

Laser scanning 3D « As Built » CAD Model

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Background, EDF R&D Robotics Group

Hardware and software equipment

Operations to be performed A Detailed Example : Repair of pipes on the main primary coolant circuit Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Hardware equipment

Repair of pipes on the main primary coolant circuit Background, EDF R&D Robotics Group Other simulation examples

• 6 or 7 axes industrial arms

Mitsubishi PA10 Staübli RX60

• Arm carrier : Specific (Victor)
• Tools and tools dispenser
• Instrumentation

Video cameras : standard or dedicated to the process Other sensors : pressure, temperature, radiation…

Operations to be performed

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Software equipment, advanced control modes

Geometric modelization SolidWorks, Robcad Robot model, path planning, ActWeld Base placement ??? Robot control StartControl Two advanced control modes of the robot have been developed and used Force-controlled Vision-controlled

Efficient for tool grasping

Background, EDF R&D Robotics Group Operations to be performed Repair of pipes

• n the main

primary coolant circuit Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

START – CONTROL Software

CAD System SUPERVISION Real Time Robot Control

CADModeling Path Planning Simulation Simulation Simulation Simulation Supervision 3D Monitoring Scenarios authoring Graphical Analysis Data storage Calibration Path generation Database Movements Generation Input/Output Robots Tools Sensors Ordonnanceur Command rules Visualization

Operations to be performed Background, EDF R&D Robotics Group Repair of pipes

• n the main

primary coolant circuit Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

START – CONTROL Software Advanced Control Modes

Automatic grasping using vision controled mode Force controled mode

Operations to be performed Background, EDF R&D Robotics Group Repair of pipes

• n the main

primary coolant circuit Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Background, EDF R&D Robotics Group Hardware and software equipment Operations to be performed

A Detailed Example : Repair of pipes on the main primary coolant circuit

• Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Repai Repair of pipes on the main primary coolant ci r of pipes on the main primary coolant circui rcuit

Branch connection affected by a defect due to thermal fatigue

Hardware and software equipment Operations to be performed

RCV CPP

Background, EDF R&D Robotics Group Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Repai Repair of pipes on the main primary coolant ci r of pipes on the main primary coolant circui rcuit

In such a case, different scenarios of intervention are usually proposed by our maintenance providers :

either the replacement of the full branch connection,

• r the development of specific machines dedicated to the intervention

The R&D project was aimed at showing the technical feasability and the merit of a robotic repair inside the pipe

Physical demonstration on a mock up was a success Main issue for EDF : to convince maintenance service providers of robotics approach benefits

Hardware and software equipment Operations to be performed Background, EDF R&D Robotics Group Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Repai Repair of pipes on the main primary coolant ci r of pipes on the main primary coolant circui rcuit

1st 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 vessel

Hardware and software equipment

Motion inside the pipe (elbow)

Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Repai Repair of pipes on the main primary coolant ci r of pipes on the main primary coolant circui rcuit

2nd phase : development and tests of the different procedures

• f the maintenance operation
• Positioning inside the pipe
• Machining by milling
• Penetrant inspection
• Welding
• Brushing

and final inspection

Hardware and software equipment Operations to be performed Background, EDF R&D Robotics Group Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

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Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Background, EDF R&D Robotics Group Hardware and software equipment Operations to be performed A Detailed Example : Repair of pipes on the main primary coolant circuit Other simulation examples

ELECTRICITE DE FRANCE RESEARCH & DEVELOPMENT

Motion Planning at EDF: Opportunities and Key Issues MOVIE Workshop – Toulouse, 01’ 2005

Off Line Robot Programming Off Line Robot Programming

Robot under a reactor’s vessel

Background, EDF R&D Robotics Group Operations to be performed Hardware and software equipment Repair of pipes

• n the main

primary coolant circuit