DRILLING OF AERONAUTIC PARTS WITH A DUAL ARM MOBILE ROBOT

Objective

Integration of several navigation and manipulation software modules being developed in TECNALIA to achieve a robust performance (TRL 6) of a mobile robot drilling aeronautics parts.

Project Responsible Within the Company

• Name: Urko Esnaola
• Title: PhD Robotics
• Contact: urko.esnaola@tecnalia.com

Project Description and objectives

INTRODUCTION:

Towards achieving flexibility in production systems, TECNALIA is working with mobile dual-arm robots. A dual-arm mobile robot opens a big amount of possibilities to the flexible automated industry envisioned for the future. But also combines a lot of technology challenges to be solved together. Challenges coming from robot navigation, perfection, safety and manipulation must be solved in combination with each other to be able to answer the flexibility demand coming from the industry.

As basis to develop the required technologies, TECNALIA is working in several test applications. One of them is DRILLING OF AERONAUTIC PARTS WITH A DUAL ARM MOBILE ROBOT. For this practical, the student will join a multidisciplinary team where different solutions are being developed for the designed task. She or he will learn the solutions, will work in the integration of the technologies, will design and perform robustness tests and will develop new technological solutions to the failures detected in the tests.

WORKING FRAMEWORK:

The Robotic Technology Area of TECNALIA is working on advanced techniques for flexible robotics systems. The main development framework used is the well-known ROS (Robot Operating System) http://www.ros.org/wiki/. The Area has several mobile platforms that are used as experimental testbeds for technological developments and could be used during the development of the internship.

OBJECTIVES:

1. Install, prepare and become familiar with the flexible robotic system of TECNALIA (ROS based – Indigo release).
2. Familiarize with TECNALIA Navigation system, perception system, safety system and manipulation system
3. Familiarize with the hardware of the specific robot designated to the task as well as of it´s sensor systems
4. Develop a Testing program to validate robustness of the task
5. Perform robustness tests and detect failures and the source of the failures
6. Develop solutions for the detected failures
7. Perform at lest 3 iterations of steps 4,5,6 to increase robustness

List of the expected outcomes:

• The student acquires a high level of knowledge of industrial robot automation.
• The student acquires expertise using one or various TECNALIA robots.
• The student acquires expertise using the ROS framework.
• The student participates in a high level environment of team working inside TECNALIA’s robotics group.

Work Plan

• M1: Familiarization with ROS, TECNALIA’s mobile platforms and their safety hardware implementation.
• M2: Familiarization with TECNALIA’s navigation, perception, safety and manipulation sytems .
• M3-M6: At least 3 Iterations of Test development/ Test performance / Conclusions and Solution Development