“curves,” to each of the axes (Fig. 3). The RMC150 dynamically creates the motion profiles from the kinematic equations provided by Weatherford’s mechanical engineers. Not only does the RMC need to be able to determine the axes’ target positions given the required Cartesian coordinates (inverse kinematics), it also needs to ascertain the handler’s target position given the current positions of the axes (forward kinematics) at all times, including when the system starts after a shutdown. The motion of the stand along the trajectory is controlled by moving a single “virtual” axis in the RMC, to which the scoping, rotational, and extend eufmc ad14_FPJ 1/21/14 9:59 AM Page 1 axes are all cammed via the curvilinear profile. (“Camming” refers to the process of gearing a slave axis to the motion of a master axis via a program-
Pipe-Handling Robot
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FIG. 3: Top-down view. The RMC motion controller coordinates the precise motion of the pipehandling robot as it moves pipe stands from the well shaft to the storage area and vice-versa.
mable relationship based on the position of the master.) The motion of the slave axis can be non-linear, which is the case in the Weatherford system, where the handler arm must move each pipe stand in different directions to get it from the well head to its storage place and vice-versa. To set up the camming operation, the RMC allows the developer to program a virtual master axis that moves between target coordinates. Then, as the virtual axis is commanded to move the handler from the well head into the alleyway and into the fingers, the RMC seamlessly transitions between entire sets of motion profiles. The operator can easily change the handling speed by just adjusting the velocity of the virtual axis. In order to provide a scalable solution, Weatherford needed a motion controller that could easily be adapted to various-sized handling systems. This was achieved by creating variables in the RMCTools software for storing the system measurements. The RMC uses these to dynamically create the motion profiles. By setting these variables, the RMC can be adapted to any size pipe-handling system in a matter of seconds. The RMCTools software includes a Curve Tool for visually and numerically validating and/or modifying the curves. “Our practical experience indicates that we can now trip at the rate of 30 stands/ hr.,” said Jones. “The machine is capable of motions that would exceed 40 stands/hr. This is significantly faster than the old manual method, and much, much safer.”
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