CHAIKMAT 4.0 Experimental Robotic Chain Control

Control Application for a Robotic Production Chain with Enhanced Interoperability Using Service Composition with Asset Administration Shell (AAS)

Instructions for Running the Robotic Chain and Using Interfaces

Introduction

This document provides detailed instructions on how to set up, run, and use the robotic chain control system, which includes Niryo Ned 2 and Wlkata Mirobot robots. It also explains how to utilize the various interfaces provided in the system.

Prerequisites

Before you begin, ensure that you have the following:

• Python 3.6 or later installed on your PC.
• Niryo One Robot and Wlkata Mirobot set up and connected.
• OPC UA Server running and accessible.
• Necessary Python libraries installed (see requirements.txt).

Setting Up

Step 1: Clone the Repository

Clone the repository containing the control scripts to your local machine:

git clone https://github.com/yourusername/robotic-chain-control.git
cd robotic-chain-control

Step 2: Install Dependencies

Install the required Python libraries by running:

pip install -r requirements.txt

Step 3: Configuration

Ensure the AAS (Asset Administration Shell) file paths are correctly set in the control scripts:

• For Niryo:

  ned_aas_file = os.path.expanduser("~/Runchain_Services/NiryoNed2AAS.aas.xml")

• For Wlkata:

  wl_aas_file = os.path.expanduser("~/Runchain_Services/WlkataMirobotAAS.aas.xml")

Verify that the OPC UA server URL and namespace are correctly configured in client.py:

OPC_UA_URL = "opc.tcp://<server-ip>:4840/opcua/"
NAMESPACE = "<namespace>"

Running the Control Script

Step 1: Start the Control Script

Run the main control script:

python Demonstrateur.py

This script will guide you through various prompts to perform different operations such as defining points, loading patterns, and running patterns.

Step 2: Example Operations

Setting Up the Robots

Initialize and calibrate the robots:

chaikmat_ned.setup()

Running a Predefined Pattern

Load and run a predefined pattern:

chaikmat_ned.load_pattern()

Pick and Place Operation

Perform a pick and place operation:

chaikmat_ned.pick_my_thing("Square", "Red", 1)

Using the Interfaces

Service Query Interface

This interface allows you to query the Services submodel to obtain information about service availability and parameters before performing tasks. For example, to check if a pick service is available:

result = chaikmat_ned.service_query(ned_aas_file, "Pick")
print(result)

Service Logs Interface

This interface logs and monitors the activities and performance of various services. The logs are stored in a logfile for analysis:

chaikmat_ned.service_logs("Pick", True, 3.5)

Robot State Update Interface

This interface manages the operational states of robotic assets within the AAS, such as Active, Inactive, or Maintenance:

chaikmat_ned.robot_state_update(ned_aas_file, "Active")

Dynamic Service Configuration Interface

This interface enables dynamic configuration of services within the AAS, allowing users to add, remove, and modify service configurations:

chaikmat_ned.configure_service(ned_aas_file, "Pick", "input_value", "output_value", "driver_function", "effector")

Monitoring and Logging

The system generates logs for each operation, which are saved in a log file with a timestamp in the filename. These logs provide detailed information about the operations performed and any errors encountered. Ensure to check the log files regularly for monitoring and troubleshooting purposes.

Troubleshooting

• Ensure all dependencies are installed and the OPC UA server is running.
• Check the configurations in client.py and the control scripts.
• Refer to the log files for detailed error messages.

Ownership

Laboratoire Genie de Production (LGP) - Universite de Technologie Tarbes Occitanie Pyrenees (UTTOP) / Ecole Nationale d'Ingenieurs de Tarbes (ENIT) Address: 47, avenue d'Azereix - BP 1629 - 65016 Tarbes CEDEX Contact: +33 (0)5 62 44 27 00