KISMET Applications in Remote Handling
Design and implementation of a computer aided telerobotics system for
fusion plant maintenance and repair, using the 3D-CAD model based
realtime monitoring, simulation and off-line programming system KISMET.
KISMET has proved its capabilities in remote handling (RH) simulation
in a number of research and development activities at
Forschungszentrum Karlsruhe and with external partners since 1986.
Specific KISMET features are:
3D graphics model based on-line monitoring of teleoperation tasks.
This mode provides a "virtual world" interface for RH-operators
for man-in-the-loop control of RH-equipment. KISMET is coupled to
the RH-control system and uses joint position sensor data for drawing
the current position of transporter, manipulator and end-effector
mechanisms in their correct position relative to the workcell
environment. The operator can get problem suited "synthetic" views,
otherwise not obtainable by camera systems. This mode can provide
additional support by:
- model based collision test and warnings
- camera control (target pointing), "autofocus" and
- camera guidance (target tracking). KISMET calculates on-line
the inverse kinematics of the camera positioning equipment and sends
the data to the camera control system
Model based on-line control of robotics equipment. The operator
drives the graphical model, using the extended control modes provided
by KISMET, e.g. various cartesian modes for control in TCP-coordinates,
control in screen coordinates etc. .
The joint or TCP-position data are sent continously to the controller(s)
of the RH-equipment. The collision test algorithm detects critical
situations and prevents damage to the RH-equipment and the workcell.
3D-simulation support during planning of RH-tasks
- Off-line programming and simulation capabilities
- Performance analysis (task cycle time measurement)
- Video image and wireframe overlay for model verification
- Operator training
- Connection to PEXOS multimedia operator guidance software tool
JET Ex-Vessel Model (762x576 jpg, 94k)
The KISMET model of Joint European Tokamak (JET) fusion reactor hall
together with the Telescopic Articulated Mast (TARM) remote handling
manipulator (left side of the image, attached to the 150to crane).
To optimise graphics performance versus detail during simulation,
this model was created using 4 levels of detail, using the KISMET
feature of multiple detail-level modelling.
KISMET model of the Next European Tokamak (NET) fusion reactor
together with the EDITH-transporter system and divertor handling unit.
- Left image
shows a cut view together with a simulated camera view
(720x576 jpg, 68k)
- Right image
shows an In-Vessel view. The yellow plates are some of
parts to be handled, i.e. the upper and lower divertor plates. The
workframes (position of the TCP during coupling) are used in the
model to display the target position of the EDITH manipulator.
(720x576 jpg, 68k)
EDITH with Mock-Up (762x576 jpg, 45k)
KISMET model of the EDITH transporter system for fusion reactor
In-Vessel maintenance rendered as a raycasting image. EDITH is displayed
together with a mock-up segment of the fusion plasma chamber as build
in the test facility at Forschungszentrum Karlsruhe.
EDITH with simulated camera view (762x576 jpg, 95k)
Simulated motion cycle (762x576 gif, 73k)
The image shows a simulated motion cycle of 2 PTP ramps. During
simulation, KISMET can optionally store the kinematic and/or
MBS-dynamics parameters as time-series. These data are displayed
here in the KISMET 'diagram-module'.
Elastostatic deflection (1045x285 jpg, 41k)
To enhance the accuracy of the simulation, KISMET can calculate
deflection and bending of MBS structures due to load and external
forces in realtime, using an elastostatic approach. The image shows
an scaled view of the deflected structure together with an overlay
of the undeflected state.
Display of forces and torques (990x378 jpg, 40k)
Again to achieve high realism during motion simulation, KISMET
can optionally calculate in realtime the MBS dynamics using a fast
Newton-Euler method approach. We have both, the direct (force/torque
demand from operator as input, motion as output) and the inverse
dynamics problem (motion as input, force/torque in the robot joints
as output) solutions implemented.
The image shows the output of the inverse dynamics problem.
Forces (red) and torques (green) are optionally displayed as arrows.
Pipe removal in a hot cell (762x576 jpg, 46k)
CATROB test facility (762x576 jpg, 45k)
Two images from the EEC-Teleman INGRID project. The workcell is
located in the reprocessing plant Sellafield/UK.
- Left image
shows an overview of the workcell. The robot used in the project
is a radioactivity hardened PUM-762, a NEATER
(720x576 jpg, 33k)
- Right image
shows some details in the workcell
(720x576 jpg, 42k)
- U.G. Kühnapfel :
"Grafische Realzeitunterstützung für Fernhandhabungsvorgänge
in komplexen Arbeitsumgebungen im Rahmen eines Systems zur Steuerung,
Simulation und Off-Line-Programmierung";
Dissertation Universität Karlsruhe (1991);
also: KfK-Bericht 5052, Forschungszentrum Karlsruhe (1992), in German
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