Author: Abiven, Y.-M.
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FRBR01 Process Automation at SOLEIL: Two Applications Using Robot Manipulators 1054
  • L.E. Munoz, Y.-M. Abiven, F. Briquez, J. Da Silva, E. Elkaim, A. Noureddine, V. Pinty, M. Valléau
    SOLEIL, Gif-sur-Yvette, France
  • S. Bouvel
    EFOR, Levallois Perret, France
  Robot manipulators are an important component in most autonomous systems in the industry. Arc welding, machine tending, painting, picking, are only some examples where the robot manipulators are widely employed. In Synchrotrons some process can benefit from robotic approaches in order to improve automation. Automatic Sample Changer on beamlines is the most common example of automation. This paper describes two robotic applications developed at Synchrotron SOLEIL. Both applications use the SOLEIL robotic standard introduced some years ago [1]. The first application aims to automate the exchange of samples for powder diffraction experiment on the CRISTAL beamline. Hence, a pick-and-place robot is used to automate the process of picking up the sample holders and placing them on the goniometer. The second application, also of the pick-and-place type, is dedicated to the automation of the magnetic characterization of magnet modules of an U15 undulator. These modules, built with a permanent magnet and two poles, are measured using a pulsed wire method [2]. In this case, the robot picks the modules stored in boxes to then place them on the test bench of the U15 undulator.
*Y.-M. Abiven et al., Robotizing SOLEIL Beamlines to Improve Experiments Automation
**M. Valléau, et al., Measurements of soleil insertion devices using pulsed wire method
slides icon Slides FRBR01 [4.934 MB]  
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About • Received ※ 10 October 2021       Revised ※ 27 October 2021       Accepted ※ 21 December 2021       Issue date ※ 19 February 2022
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Hexapod Control Upgrade at Synchrotron Soleil: Method and Results  
  • L. Amelineau, Y.-M. Abiven, C.B. Bourgoin, D.C. Corruble, C. Engblom, B. Leluan, A. Lestrade, F. Polack, M. Sebdaoui
    SOLEIL, Gif-sur-Yvette, France
  A Stewart Platform, a hexapod parallel robot variant, is comprised of six actuators providing movements in six degrees-of-freedom. In order to facilitate operation and maintenance, Low-level control has been successfully transferred from its original proprietary controller to a SOLEIL-standardized controller (Delta Tau Power Brick). Low-level control includes direct and reverse kinematics which can be adapted and tuned to the specific mechanical/geometric features of any Stewart Platform of similar build. The embedded (and therefore generic to Stewart Platforms) software also interfaces with generic and existing Tango devices making it easily accessible by users. The transition from ’black-box’ hardware and embedded software to standardized controllers with fully mastered control kinematics, provides hexapod users with SOLEIL durable operational support and maintenance. Dimensional metrology of the hexapod has shown dynamic and static performance to be equivalent to the old system. A new metrological method linking measurements and kinematics has been developed to compensate mechanical imperfections in order to improve performance. This paper will present the results of this work.  
slides icon Slides FRBR05 [5.391 MB]  
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Motion Control Workshop (MOCRAF)  
  • Y.-M. Abiven
    SOLEIL, Gif-sur-Yvette, France
  • B.J. Nutter
    DLS, Oxfordshire, United Kingdom
  Like the previous editions, The ICALEPCS MOCRAF workshop group will be a multidisciplinary workshop devoted to the latest developments on motion control, with, this year, a special focus on Mechatronics. Its purpose is to get feedback from attendees to make the workshop as interesting and pleasurable as possible. This group will remain alive after the workshop to be the input for the future ICALEPCS MOCRAF meetings.  
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slides icon Slides FRXL05 [0.637 MB]  
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