ICALEPCS2017 - List of Authors (Ferre, M.)

Paper	Title	Page
TUPHA127	A Dual Arms Robotic Platform Control for Navigation, Inspection and Telemanipulation	709
	M. Di Castro, L. R. Buonocore, S.S. Gilardoni, R. Losito, G. Lunghi, A. Masi CERN, Geneva, Switzerland M. Ferre ETSII UPM, Madrid, Spain
	High intensity hadron colliders and fixed target experiments at CERN require an increasing amount of robotic tele-manipulation interventions to prevent and reduce excessive exposure of maintenance personnel to the radioactive environment. Tele-manipulation tasks are often required on dated radioactive devices which were not conceived to be maintained and handled using standard one arm robotic solutions. Robotic platforms with a level of dexterity that often requires using two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual-arms robotic system is presented. The arms and the vehicle controls are fully integrated in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low-level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case.
	Poster TUPHA127 [5.742 MB]
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127
Export •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Page

A Dual Arms Robotic Platform Control for Navigation, Inspection and Telemanipulation

709

M. Di Castro, L. R. Buonocore, S.S. Gilardoni, R. Losito, G. Lunghi, A. Masi
CERN, Geneva, Switzerland
M. Ferre
ETSII UPM, Madrid, Spain

High intensity hadron colliders and fixed target experiments at CERN require an increasing amount of robotic tele-manipulation interventions to prevent and reduce excessive exposure of maintenance personnel to the radioactive environment. Tele-manipulation tasks are often required on dated radioactive devices which were not conceived to be maintained and handled using standard one arm robotic solutions. Robotic platforms with a level of dexterity that often requires using two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual-arms robotic system is presented. The arms and the vehicle controls are fully integrated in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low-level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case.

Poster TUPHA127 [5.742 MB]

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127

Export •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)