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LabVIEW Robotics:
Sense-Think-Act
Jochen Klier
Application Engineer
National Instruments
Agenda
• Robotic applications
• A typical robotic system architecture
– Sense
– Think
– Act
• LabVIEW Robotics 2009
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
Types of Robots
• Fixed-base robots
• Mobile robots
(tele-operated)
• Autonomous vehicles and
systems
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
"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
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
A typical Robotic System Architecture
• Data
acquisition
• Filtering
• Perception
Sense
• Navigation
• Localization
• Decision making
Think • Locomotion
• Kinematics
• Motor control
Act
think
actsense
Sensors
Infrared (IR) Sensors
CMOS Sensor
Radar
Inertial Measurement
Unit
Optical Encoders
Global Positioning
System
Stereo Vision
LIDAR
think
actsense
High Definition Lidar HDL-64E Sensor
think
actsense
• Rings indicate laser paths
• Colors indicate elevation change
Lidar Street Imaging
think
actsense
think
actsense
Planning and Navigation
Autonomous Map Building
Localization
Machine Learning
Think
think
actsense
Planning and Navigation
• Path planning
• Obstacle avoidance
think
actsense
Urban Challenge – Map and Sensor Data
Fusion
think
actsense
think
actsense
Act
Manipulators
Wheeled
Tracked
Bipedal
Biomimetic
think
actsense
Motors + Drives
maxonmotor.com
think
actsense
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)
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
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
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
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
Questions?
ni.com/robotics

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LabVIEW Robotics: Sense-Think-Act

  • 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
  • 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
  • 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