Lecture handout on LabVIEW Robotics: Sense-Think-Act in National Workshop on LabVIEW and its Applications.Organized at Dayalbagh Educational Institute,Dayalbagh,AGRA from 28-29 August 2015.
3. A Robot Platform for every Age and Application
Powered by LabVIEW
LEGO® WeDo®
powered by LabVIEW
LEGO® MINDSTORMS® NXT
powered by LabVIEW
NI LabVIEW
NI
WorldClass
4. Types of Robots
• Fixed-base robots
• Mobile robots
(tele-operated)
• Autonomous vehicles and
systems
5. Vision Guided Motion
Application
Pick and place parts of different sizes and
orientations
Challenges
Multiple domains of expertise need to be addressed
Key benefits
Integration of Robot Control and Vision in a single
development environment
6. "The LabVIEW platform has helped Nexans develop a system that is easy
to maintain due to the consistent programming paradigm for both HMI and
embedded control with CompactRIO, even in extreme conditions."
Application
Level the seabed floor to lay a pipeline from the
Orman Lange natural gas field to the UK. Develop
HMI, remote-control interface, heave
compensation and power controls
Challenges
1000 meters below sea level, strong currents,
uneven terrain, constrained time and budget
Key benefits
Rapid development software across multiple
computing platforms, rugged embedded platform
Underwater Dredging System:
Remote Control
Nexans Spider
7. Autonomous Vehicle for DARPA
Urban Challenge
TORC Technologies and Virginia Tech “Odin” Vehicle
Application
Autonomously navigate 60 mile urban environment
Challenges
Follow all traffic laws
Safely navigate around obstacles/barriers
Safely interact with other UGV and manned
vehicles at stop signs during passing, parking
Key benefits
Rapid development platform
Domain expertise vs. computer science focus
Common tool across Windows, Linux, VxWorks,
FPGA
Fast design iterations
Infrastructure of support for NI and 3rd party I/O
hardware: unrivaled by any text-based language
8. A typical Robotic System Architecture
• Data
acquisition
• Filtering
• Perception
Sense
• Navigation
• Localization
• Decision making
Think • Locomotion
• Kinematics
• Motor control
Act
20. Act Algorithms
think
actsense
• Forward kinematics
• Reverse kinematics
• Machine Level Control
Low Level
Control
Axis
Control
Kinematics
• Commanding axes
• Coordinating multiple
axes
• Position Control
• Current / Torque Control
• Field Oriented Control (FOC)
21. LabVIEW Robotics 2009
IP for navigation, steering,
kinematics and more
High-level graphical
programming environment
Tools for integrating
text-based algorithms
Deployment to Real-Time
and FPGA hardware
Examples of real-world
applications
Connectivity to sensors
and actuators from top
vendors
22. Connectivity to
sensors and actuators
from top vendors
Image processing and
acquisition libraries
JAUS and Ethernet
protocols for
communication
Deployment to
embedded real-time
and FPGA hardware
Steering and
kinematics algorithms
A* and AD* search
algorithms for real-
time obstacle
avoidance
LabVIEW Robotics 2009
23. LabVIEW Robotics 2009 Software Bundle
LabVIEWModules
• LabVIEW Real-Time
• LabVIEW FPGA
• LabVIEW MathScript RT
• LabVIEW Control Design
and Simulation
• LabVIEW Statechart
• NI Vision Development
Module
• LabVIEW NI SoftMotion
• PID Control Toolkit
• LabVIEW System
Identification Toolkit
RoboticsIPand
Examples
• Sensor and Actuator
Drivers
• Path Planning
• Obstacle Avoidance
• Steering
• Kinematics
• Communication Protocols
• Connectivity to Third-
Party Software
• Motion
• Vision
• Control and Simulation
24. NI Single-Board RIO
•Board-level embedded controller
•Integrated FPGA and real-time processor
•Built-in analog and digital I/O, can be expanded with
I/O modules
NI CompactRIO
•Embedded controller with rugged, mechanical enclosure
•Integrated FPGA and real-time processor
•Includes modules for robotics-specific I/O
NI Robot Starter Kit
•Robot kit based on NI Single-Board RIO
•Includes ultrasonic sensor, motors, encoders, battery, and
charger
•Performs basic obstacle avoidance out of the box