| Title |
Robotizing SOLEIL Beamlines to Improve Experiments Automation |
| Authors |
- Y.-M. Abiven, T. Bucaille, L. Chavas, E. Elkaim, P. Gourhant, Y. Liatimi, K. Medjoubi, S. Pierre-Joseph Zéphir, B. Pilliaud, V. Pinty, A. Somogyi, F. Thiam
SOLEIL, Gif-sur-Yvette, France
- S. Bouvel
EFOR, Levallois Perret, France
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| Abstract |
Beamlines can benefit from the implementation of industrial robots in several ways: minimization of dead time, maximization of experimental throughput, and limitation of human presence during experimentation. Furthermore, the robots add flexibility in task management. The challenge for SOLEIL is to define a robotic standard, on both hardware and software, which is versatile enough to cover beamlines requirements, while being easy to implement, easy to use, and to maintain in operation. This paper will present the process of defining such a standard at SOLEIL, using 6 axis industrial robot arms. It will detail all aspects of this development, from market studies up to technical constraints. The specifications of the robots are aimed at addressing the most common technical constraints of beamlines, with a special care for mechanical properties. The robotic systems will be integrated into the Tango control system using a feature-based approach. This standard implementation is driven by two applications: picking and placing samples for powder diffraction on the CRISTAL beamline and positioning of a detector for x-rays coherent diffraction experiments on the NANOSCOPIUM beamline.
|
| Paper |
download MOPHA001.PDF [0.942 MB / 4 pages] |
| Poster |
download MOPHA001_POSTER.PDF [1.455 MB] |
| Export |
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| Conference |
ICALEPCS2019 |
| Series |
International Conference on Accelerator and Large Experimental Physics Control Systems (17th) |
| Location |
New York, NY, USA |
| Date |
05-11 October 2019 |
| Publisher |
JACoW Publishing, Geneva, Switzerland |
| Editorial Board |
Karen S. White (ORNL, Oak Ridge, TN, USA); Kevin A. Brown (BNL, Upton, NY, USA); Philip S. Dyer (BNL, Upton, NY, USA); Volker RW Schaa (GSI, Darmstadt, Germany) |
| Online ISBN |
978-3-95450-209-7 |
| Online ISSN |
2226-0358 |
| Received |
30 September 2019 |
| Accepted |
10 October 2019 |
| Issue Date |
30 August 2020 |
| DOI |
doi:10.18429/JACoW-ICALEPCS2019-MOPHA001 |
| Pages |
183-186 |
| Copyright |
 Published by JACoW Publishing under the terms of the Creative Commons Attribution 3.0 International license. Any further distribution of this work must maintain attribution to the author(s), the published article's title, publisher, and DOI. |
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