WP 1 Overview and Activities Tim Guhl Rainer

WP 1 Overview and Activities Tim Guhl & Rainer Bischoff KUKA Laboratories Gmb. H 2 nd Review Meeting, Ismaning 08. -09. 06. 2011

BRICS’ scientific objectives No. S&T Objective WP 1 1 survey and analyse robot developments 2 promote and moderate a communitywide discussion on best practices 3 design and implement BRIDE and BROCRE 4 promote the interoperability of hardware and software components through harmonisation X 5 define and implement showcases X 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential X 2

BRICS’ scientific objectives WP 1 No. S&T Objective WP 1 • HW & interface requirement analysis (T 1. 1 & T 1. 2) • Access models & action plan for sustainable RRPs (T 1. 5 & T 1. 6) 1 survey and analyse robot developments 4 promote the • Integration of BRICS HW into interoperability of BRICS framework (T 1. 3) hardware and software components through harmonisation 5 define and implement showcases • BRICS hardware to enable BRICS showcases (T 1. 4) 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 3

Status of WP 1 1 Hardware for Best Practice in Robotics 1. 1 Requirement analysis 1. 2 Specification of required hardware 1. 3 Adaptation and integration of required hardware 1. 4 Optimisation of required hardware 1. 5 Action plan for sustainable implementation of RRP concepts 1. 6 Access models (definition and implementation) Year 1 Year 2 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential Year 3 Year 4 4

T 1. 1: Requirement analysis • Carried out 3 rd questionnaire – Reworked with help of expert Prospektiv Gmb. H – Sent to community in batches (also via EUROP, EURON and robotics world wide) – Over 70 responses – Inputs from and to most WPs 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 5

T 1. 1: Requirement analysis • Analysed 3 rd questionnaire – First analysis carried out after sending 2 nd batch to ensure validity of questionnaire – Statistical analysis of questionnaire – Dissemination within project – Deliverable D 1. 1 updated – Publication planned 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 6

T 1. 1: Outcome of 3 rd questionn. • Hard to summarise look through the deliverable (many graphs ) • Highlights – Spread across many different applications – Mobile manipulation robots could cover most of the applications (need to be customisable) – >90% consider common research platforms beneficial • Documentation & support most important benefits • Benchmarking rather low priority 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 7

T 1. 1: Requirements of use cases • • Industrial: Chaku Line Education: you. Bot Research: Care-O-bot and DESIRE Platform SME: CERN Target exchange 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 8

T 1. 2: Specification of HW • • Feedback from questionnaire HW used within consortium Requirements of all WPs Deliverable D 1. 2 in work – – – – Blue. Botics Platform IPA Care-O-bot 3 IPA DESIRE Platform KUKA Lightweight Robot KUKA you. Bot KUKA omni. Rob KUKA omni. Move BRSU Johnny 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 9

T 1. 2: Specification of HW Care-O-bot 3 with LWR IPA Rob@Work 2 @BRSU Jenny @IPA COB 3 -3 KUKA LWR BRSU Johnny KUKA you. Bot KUKA omni. Rob Blue. Botics CERN use case 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 10

KUKA motivation: products for education and research • • KUKA Lightweight Robot industry-proven robot arm controller control cycle 1 ms Fast Research Interface (1 – 100 ms access to LWR control parameters) • • KUKA omni. Rob advanced controller for mobile manipulation control cycle 1 ms Fast Research Interface (in work) scalability • • KUKA you. Bot open source controller • • control cycle <1 ms direct access to drive position, velocity and current control scalability 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 11

T 1. 3: Adaptation of HW • KUKA – – – – Focus: enable the easy integration of robots & components Fast Research Interface (FRI) available for KRC 2 lr “FRI mobile” in development for new/prototype controller FRI used for 2 -arm system at Automatica + Research Camp High-level control interface (“Robotics API”) omni. Move, omni. Rob & you. Bot improvements & interfaces Integration of LWRs in Care-O-bots & DESIRE platform • Blue. Botics – – Completed Ether. CAT master on the XO/2 operating system Automatically detect &configure devices on Ether. CAT bus Device drivers for Beckhoff modules Tested and documented 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 12

Improved omni. Rob • • • Easier maintenance • Improvements based on: Safety interfaces for omni. Rob – KUKA experience Reduced width door traversing – AUTOMATICA 2008 Protect the laser scanners – Requirements of RRPs More room to embed components 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 13

KUKA you. Bot – status • Prototypes 1 -5 @ 1 st research camp (10/2010) • Prototypes 6 -12 @ 2 nd research camp (05/2011) • Supply problems: late delivery and poor quality – Firmware – Electronics – Casts of structural parts • Changes to the you. Bot system based on experiences with the AUTOMATICA demonstrator and the first 5 prototypes • As a consequence: release certification at KUKA delayed • Work on/with firm- and software in several WPs 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 14

you. Bot @ Automatica 2010 KUKA you. Bot and omni. Move systems KUKA you. Bot at the BRICS project booth 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 15

Robotics API & FRI • Functionality with slight overlap – „both can move the robot“ • Robotics API – Acyclic Motion commands – Full choice and selection of all control modes – Program-sequences very easy – Proper handshake to robot controller for all (control) state changes – Soft-Realtime Option (speed interface) • FRI – Cyclic motion commands – Hard-Realtime Connection up to 1 msec – Lightweight UDP socket protocol – Superposition of control and motion – No program-sequences supported – Handshakes for control state changes difficult and error prone Robotics. API to reduce the pain 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 16

Outlook: FRI goes Mobile • Mobility requires new software structure • Robotics API (non-real-time) – Implement applications using high level functions (interpolator available etc. ) – Turn FRI on and off • FRI: Real-time control from remote computer – Superposition of basic motion features – Superposition of control modes (within natural physical limits) 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 17

T 1. 6: Access models • Analysis which HW is best for academia – hardware list for ECHORD – Concept: “omni. Rob for RTD partners” • Requirements regarding access models – Related questions on questionnaire – Looked into in showcase research – Internal & external discussions • Internet forum for FRI and LWR has been set up • (Other: Discussions on mobile manipulation challenges and Robo. Cup@work) 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 18

Implementation of Access Models • Centralized (“CERN of robotics”) – Care-O-bot 3 at IPA and BRSU • Shared (“Rent-a-robot”) – DESIRE RRP shared between ULund, KUL and IPA – Reconfiguration of robot for specific research purposes • Distributed (“Tele-operation”) – Running infrastructure with web access to simulation and robot – First evaluation installation at RC – Since January 2011 constantly running at IPA for public usage 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential

Workplan 36 • T 1. 1: Requirement analysis completed • T 1. 2: Specification of HW – Still need to finish documenting this ( D 1. 2) – Info on HW at all partners is being collected • T 1. 3: Adaptation of HW – Further adaptations will be carried out as needed • T 1. 4: Optimisation of HW – T 30: Discuss optimisation requirements with WP 5 – T 31+: Realise optimisations • T 1. 5: Sustainable RRPs – Starts T 36 • T 1. 6: Access models – T 30: Present first suggestions to the consortium 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 20

Deliverables • D 1. 1 Specification of HW complete – First version handed in at T 12 for Annual Review – Update became available in 2 nd reporting period • D 1. 2: HW adapted (T 24 T 30? ) – Information from all partners being pulled together. – Final version should be available soon. • D 1. 3: Action plan and access models (T 48) – Related questions asked in 3 rd questionnaire 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 21

Use of resources • KUKA overspent significantly wrt even distribution: – Even distribution not good approximation are on target. • GPS and BRSU overspent significantly: – you. Bot firm- and software (part of the contingency actions). – BRSU contributed to integration of LWR and Care-O-bot. • UBergamo and Blue. Botics overspent slightly: – UBergamo: unforeseen contribution to the 3 rd questionnaire – Blue. Botics: Ether. CAT protocol required additional resources. • KUL, UTwente and IPA contributed as scheduled. 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 22

Thank you for your attention! Any questions?

What’s new about FRI? 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 24

What’s new about FRI? 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 25

What’s new about FRI? 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 26

FRI Concept: State machine 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 27

New controller and Robotics API High-level Object-Orientated Control Interface (C# or Java) 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 28

Object-Oriented control interface High-level Object-Orientated Control Interface (C# or Java) Java VM Standalone User Application Robotics API Control Kernel API Windows, Linux, Mac OS, … Vx. Works Care-O-bot IPC Communication of control data Control Kernel 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential KUKA recommended Beckhoff-IPC with Sercos interface 29

KUKA Robotics API code example 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 30

Outlook: Advanced interfaces and modules high-level object-orientated control interface fast motion (C# or Java) command interface Robotics API flow data Modules Runtime Environment (non real-time) Motion Proxy data flow data Any control code Kernel API Control Kernel (real-time, deterministic) Any control code data flow ROS, … flow external module embed C++ code Matlab/ Simulink Sensor Proxy data flow Control Hardware embed Simulink (generated C++ code) IPC Note: These are suggestions for discussion! 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 31

KUKA you. Bot • Desktop mobile manipulator for research and education • Arm: – 5 dof + 2 -finger gripper – Reach: 0. 6 m – payload: 0. 5 kg (maybe more…) • Mobile platform: – omnidirectional – ca. 0. 58 m x 0. 38 m – translational and rotational velocities can be arbitrarily combined • Ether. CAT for all drives – open command interface for applications in research and education – position, velocity and current control modes • Flexibility: arm and platform can be used independently from each other, gripper replaceable, 2 nd arm could be attached to platform • Intel processor board in the platform (Atom dual core, two LAN controllers, 2 GB RAM, 8 GB CF) • space for a Single Board PC in the base of the arm 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 33

KUKA omni. Rob basic • General characteristics of basic platform – omnidirectional kinematics based on 4 KUKA omni. Wheels with motors and drives – communication to the drives: Ether. CAT (protocol available from drive manufacturer) – basic emergency circuitry and wireless safety switch, fuses, main switch (key) – structure: frame and cover made of aluminum elements – 4 x 12 V batteries in series to yield 48 V, approx. 80 Ah; battery charger – 48/24 V DC-DC converter for powering PCs and peripheral equipment – dimensions: length: 1. 20 m (incl. bumper), width: 0. 60 m (no bumper), height: 0. 65 m – weight: approx. 250 kg – payload: approx. 400 kg – speed: 1. 4 m/s – no controller – no laser scanners 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 34

KUKA omni. Rob • Option 1 „Controller“ – Beckhoff PC with new KUKA controller – KUKA Robotics API for mobile platform (allowing remote control from external PC through an Ethernet interface) • Option 2 „Safety Scanners“ – 2 SICK safety scanners (protected by bumpers, increasing platform width to 0. 71 m) – flexible safety circuitry based on Beckhoff terminals; parameterization with Twin. Cat – requires option 1 • Option 3 „Autonomous navigation“ – navigation software and panel PC – requires options 1 & 2 • Option 4 „LWR“ (not conform with ISO 10218) – LWR including connection to new controller and safety circuitry – KUKA Robotics API for lightweight robot (allowing remote control from external PC through an Ethernet interface) – requires options 1 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 35

Overview you. Bot supply chain Role in supply chain Company * Finance KUKA (EC project BRICS) and Grenzebach (via purchase) Product management KUKA Development KUKA with Codronic and Open Source Robotics Community Purchase strategic: KUKA; operational: Grenzebach Manufacturing various partner companies: Polmont, Trinamic, Bamberger, … Assembly Grenzebach Marketing Locomotec with support of KUKA Communication KUKA and Locomotec (in close interaction) Sales Academia: Locomotec; other: KUKA Service / Support Locomotec 2 nd Review Meeting, 08. -09. 06. 2011 WP 1 confidential 36