LabVIEW Robotics: Sense-Think-Act
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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.
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LabVIEW Robotics: Sense-Think-Act
- 1. LabVIEW Robotics: Sense-Think-Act Jochen Klier Application Engineer National Instruments
- 2. Agenda • Robotic applications • A typical robotic system architecture – Sense – Think – Act • LabVIEW Robotics 2009
- 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
- 10. Sensors Infrared (IR) Sensors CMOS Sensor Radar Inertial Measurement Unit Optical Encoders Global Positioning System Stereo Vision LIDAR think actsense
- 11. High Definition Lidar HDL-64E Sensor think actsense
- 12. • Rings indicate laser paths • Colors indicate elevation change Lidar Street Imaging think actsense
- 13. think actsense
- 14. Planning and Navigation Autonomous Map Building Localization Machine Learning Think think actsense
- 15. Planning and Navigation • Path planning • Obstacle avoidance think actsense
- 16. Urban Challenge – Map and Sensor Data Fusion think actsense
- 17. think actsense
- 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