Author: Amelineau, L.
Paper Title Page
TUPV042 Collision Avoidance Systems in Synchrotron SOLEIL 501
  • C. Engblom, S. Akinotcho, L. Amelineau, D.C. Corruble, P. Monteiro, L.E. Munoz, B. Pilliaud, G. Thibaux, S. Zhang
    SOLEIL, Gif-sur-Yvette, France
  • S. Bouvel
    EFOR, Levallois Perret, France
  Beamlines at Synchrotron SOLEIL are finding that their experimental setups (in respect to their respective sample environments, mechanical systems, and detectors) are getting more constrained when it comes to motorized manoeuvrability - an increasing number of mechanical instruments are being actuated within the same workspace hence increasing the risk of collision. We will in this paper outline setups with two types of Collision Avoidance Systems (CAS): (1) Static-CAS applications, currently being employed at the PUMA and NANOSCOPIUM beamlines, that use physical or contactless sensors coupled with PLC- and motion control- systems; (2) Dynamic-CAS applications, that use dynamic anti-collision algorithms combining encoder feedback and 3D-models of the system environment, implemented at the ANTARES and MARS beamlines but applied using two different strategies.  
poster icon Poster TUPV042 [1.670 MB]  
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About • Received ※ 10 October 2021       Revised ※ 20 October 2021       Accepted ※ 21 December 2021       Issue date ※ 17 January 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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