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The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-1
• Objectives
• Physical Configuration
• Mechanical Design
• Power Design
• Onboard computation
• Control
• Software
• Sensing
• Testing
• Resources
Covered so farStill to be covered
OverviewOverviewOverviewOverview
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-2
Onboard Hardware Selection IssuesOnboard Hardware Selection IssuesOnboard Hardware Selection IssuesOnboard Hardware Selection Issues
• Processing horsepower to perform sensor analysis
• Ease of interfacing with motion controllers and sensor feedback
• Form factor– Intention is to have it fit in the 4”Ø tubes
• Extensibility
• Features – i.e. Ethernet, IDE, video
• Power consumption
• OS support
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-3
Controls IssuesControls IssuesControls IssuesControls Issues
• Multi-robot planner will have a good but imperfect model of robot positions and environment
• In manipulator mode Skyworker becomes a chain manipulator with redundant DOF’s
• While walking the payload needs to be moved at a constant velocity to minimize energy consumption and torques
• Three types of actions– Walking without payload– Walking with payload– Manipulating from a fixed point
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-4
Control LayersControl LayersControl LayersControl Layers
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-5
Software Design IssuesSoftware Design IssuesSoftware Design IssuesSoftware Design Issues
• Correct errors associated with inexact modeling of world and robot
• Modularity– Easy interchange and upgrade of component elements– Objectified components allows melding of simulation and
real world
• Control partitioning and scalability concerns
• Provide the user with a common simulation and operation interface
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-6
Software BlueprintSoftware BlueprintSoftware BlueprintSoftware Blueprint
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-7
What Will Simulation Provide?What Will Simulation Provide?What Will Simulation Provide?What Will Simulation Provide?
• Emulation of Skyworker
• An identical interface as used to talk to the real robot– Provides a path for testing prior to implementation on
Skyworker
• Initially kinematic modeling with a direct path to dynamic modeling
• Multi-robot interactions
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-8
Purpose of SimulationPurpose of SimulationPurpose of SimulationPurpose of Simulation
• Provides a method to explore Skyworker capabilities that we are unable to test with our physical robot – Moving from standing on top of to hanging from the bottom
of the truss– Construct a large scale facility– Performing various AIM tasks not demonstrated
• Perform and analyze multi-robot operations and their effects on the structure
• Study robotic efficiency
• Develop tools for optimizing facility construction
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-9
Multi-Robot CoordinationMulti-Robot CoordinationMulti-Robot CoordinationMulti-Robot CoordinationRobot Coordinator
– Executes pre-recorded scripts– Sequences robot actions at high level (I.e.
walk to x,y)– Monitors progress
Script Generator– Tool used to provide human & machine
readable AIM plans– High level actions (move to, carry to, pick up,
place, look at)– Initially hand generated (emacs)– Later tools will use the visualization front end– Follow-on research will develop a planning
tool
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-10
Individual Robot PlanningIndividual Robot PlanningIndividual Robot PlanningIndividual Robot Planning
• Translates high level plans into a sequence of steps and then to joint angle trajectories
• Provides a route to pass interpreted sensor data to the robot coordinator & user
• Separate planners used for walking and manipulating
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-11
Joint Control and SensingJoint Control and SensingJoint Control and SensingJoint Control and Sensing
• 2 Versions– emulator– code embedded on Skyworker
• Local processing of video stream dramatically reduces communications bandwidth
• Reflex system used to perform gentle anchoring
• Queued joint positions/trajectories provide required low latency control
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-12
Simulation/EmulationSimulation/EmulationSimulation/EmulationSimulation/Emulation
• Provides feedback to emulated Skyworker
• Initial dynamics model will be a unity pass through
• Dynamics model will be updated based on characteristics of actual Skyworker
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-13
User InterfaceUser InterfaceUser InterfaceUser Interface• Provides a way for users to specify
scripts to run, reset the robot and view telemetry data
• Visualization tool will allow for full 3D viewing of simulated robots and telemetry data from real robots
• Sensor simulation will utilize the visualization infrastructure to provide feedback to simulated Skyworkers
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-14
Visualization Software ConsiderationsVisualization Software ConsiderationsVisualization Software ConsiderationsVisualization Software Considerations
• Capabilities– Ease of user interaction– Sensor simulation
• Leverage available from other RI projects
• Cost
• Interface
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-15
Visualization Packages Being Visualization Packages Being ConsideredConsidered
Visualization Packages Being Visualization Packages Being ConsideredConsidered
• Viz– Developed at NASA Ames– Currently being used in a multi-robot simulation at FRC– Based on OpenInventor
• World Toolkit– Developed by Sense8– Used on several previous FRC projects– Distribution costs
• Envision– Developed by Deneb– Limited FRC experience– Unwieldy to interface to– Extremely expensive to distribute
• Enigma– Developed by JSC– Used at NREC
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-16
Sensing RequirementsSensing RequirementsSensing RequirementsSensing Requirements
• Basic feedback (joint angles, velocities)
• Gripper proximity sensing
• Payload orientation sensing
• Inspection
• Localization– Correction of errors in dead-reckoning
• Part identification– Used for element tracking and accounting
9 Months
Future
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-17
SensingSensingSensingSensing• Proximity Sensing
– Purpose• Correct for errors in position estimation
– Requirements• Must have multi-centimeter range
– Proposed Solution• Capacitive Proximity Sensors (Capaciflectors)
• Payload Orientation Sensing– Tasks
• Recognize a payload given an estimate of its position• Provide position error feedback as Skyworker manipulator attempts to
grasp the payload– Requirements
• Recognize payload and latch points given a reasonable amount of error in position and orientation
• Provide x,y,z,,, error estimates during capture
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-18
Communication IssuesCommunication IssuesCommunication IssuesCommunication Issues
• Ease of interfacing on board software with off board software
• Ease of access to on board software
• Bandwidth considerations
• Availability of inter-process communication (IPC) packages over given media
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-19
Low Communications LayersLow Communications LayersLow Communications LayersLow Communications Layers
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-20
Application Communications LayerApplication Communications LayerApplication Communications LayerApplication Communications Layer
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-21
IPC Package Selection ConsiderationsIPC Package Selection ConsiderationsIPC Package Selection ConsiderationsIPC Package Selection Considerations
• Ease of Implementation
• Support for Peer-to-peer communication (1 to 1)
• Support for Publish/Subscribe services (1 to many)
• Operating systems supported
• Local experience
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-22
Feature ComparisonFeature ComparisonFeature ComparisonFeature ComparisonIPC Package
1-1 1-Many Local Experience
Platforms
IPC Yes Anonymous Yes SunOS, Solaris, VxWorks, Linux, IRIX
RTC Yes Named Yes Solaris, Linux, Irix, VxWorks, Windows NT, DOS4GW
Socket++ Yes No No Solaris, AIX, Linux, Windows 95/NT
• Inter-process communication will likely be performed using IPC– Supports (1 to 1) and (1 to many) messaging capabilities.– Anonymous publish/subscribe will likely by useful– Strong track record with other projects
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-23
TestingTestingTestingTesting
• Software components will be incrementally tested
• Utilize simulation to test algorithms prior to robot completion
• Confirm force analyses through real world testing
• Validate simulation by comparing simulated operations with real world operations
• Determine power consumption for structure walking
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-24
Cost BudgetCost BudgetCost BudgetCost Budget
Mechanical 48500DOF 11 @ 3000 33000Grippers 3 @ 4000 12000Structure 1000GC 1000Testing Equipment / Facility 1500
Computational 7300Embedded Computer 1500Wireless 2000Motor Controllers 2500Video capture 600Digital IO 700
Sensors 2750Camera 750Joint Sensing, Capaciflectors, Force Sensors1500RF Tag Sensor 500
Power 3500Batteries 1500Power Circuitry 2000
Total 62050
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-25
Skyworker Organizational ChartSkyworker Organizational ChartSkyworker Organizational ChartSkyworker Organizational Chart
B e n S h a m ahM e ch. E n g in e er
D im i A p o sto lo po u losP ro je c t S c ie n tist
S a rjou n S ka ffM e ch .E n g in e er
P e te r S ta ritzM e ch a n ica l L e ad
W illia m W o ngC o m p ute r S cie n tist
O re n L a sk inC o m p u te r E n g in e er
D e W itt La tt im erN IS T S e n so rs E n g .
Jo na th an S a m u e lP o w er E n g in e er
S co tt R ob b insC o m p ute r S cie n tist
T im W a rn e ckP o w er E n g in e er
Ja so n M e ss in g erC o m p u te r E n g in e er
C h ris U rm sonE le c trica l L e ad
M a rio n "Tre y" S m ithC o m p ute r S cie n tist
S a n jiv S in ghP ro je c t S c ie n tist
J im "O z" O sb o rnP ro je c t S c ie n tist
W illia m "R ed " W h itta kerP rin cip le Inve s tig a to r
Mobile Robot Design Class
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-26
Project Member ResponsibilitiesProject Member ResponsibilitiesProject Member ResponsibilitiesProject Member ResponsibilitiesTeam Member ResponsibilitiesWilliam ”Red” Whittaker Principal Investigator, technical oversight
Peter Statitz Mechanical lead, mechanical design and analysis, manufacturing
Chris Urmson Electrical and Software lead, software architecture design
Dimi Apostolopoulos Mechanical design, Mechanical oversight
Sanjiv Singh Software oversight
Jim “Oz” Osborn Project management
Ben Shamah Mechanical design, manufacturing
Sarjoun Skaff Mechanical analysis, manufacturing
William Wong Simulation development
DeWitt Lattimer Sensor interfacing and integration
Scott Robins Embedded software development
Jason Messinger Embedded processor integration and hardware interfaces
Oren Laskin Visualization
Jonathan Samuel Power system design, motor controller selection/design
Tim Warneck Power system design, motor controller selection/design
Marion “Trey” Smith Simulation development
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker PDR 9/10/99-27
SummarySummarySummarySummary
• N-Type configuration
• System design– Gripper, joints– Force/gait analysis– Gravity compensation – Power– Layered control scheme– 4 tier software architecture
• Simulation