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LabVIEW Robotics Module 函式庫介紹
Citation preview
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Graphical System Design for Robotics Applications
National Instruments 美商國家儀器行銷部技術經理 吳維翰
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Autonomous Forklift Mobile Service Robot Underwater Robot
Autonomous Ground VehiclesSpace Rover RobotsMilitary Robot
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A robot simplified…
think
actsense
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In reality…
• Really messy• Lots of stuff to integrate• And you don’t even know if it works
• Need to simply the problem– Levels of abstraction– Don’t get lost in the “details”
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The graphical approach
VisionUltrasonicMicrophoneGPSLIDAR
Object TrackingAvoidanceSLAMNavigation
PIDPWMClosed-loop controlFuzzy ControlAdaptive Control
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何謂 LabVIEW?• 圖形化編程環境• 業界量測與自動化標準• 豐富函式庫，包含 :
– 視覺檢測– 運動控制– 資料擷取– 儀器控制– 進階運算– 報表產生– 和更多 …
• 整合週邊軟硬體和其他工具
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LabVIEW 圖形化編程環境
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“What is” LabVIEW Robotics 2009?•Getting Started Window•Getting started wizard•RIO hardware wizard•Template architectures
“New” Experience
•Search algorithms•Robotics visualization•Obstacle avoidance•Kinematics•Robotics Examples
Robotics IP
•Sensor drivers•Actuator drivers•Driver project help
Drivers
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IP Offering
• Sensor Integration• Algorithms• Action and control• Robotic Arm Library• Others
– Connectivity, FPGA IP
think
actsense
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think
actsense
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Infrared (IR) Sensors
Sonar Sensors
Inertial Measurement Unit
Analog Voltage
Encoders
Global Positioning System
LIDAR
Digital Data
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LIDAR
InfraredSonar
GPSIMU
Electronic Compass
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Hokuyo Sensor 1-2-3
DEMO
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think
actsense
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Navigation (A*, AD*)
Occupancy grid
Obstacle avoidance
Vision tracking and analysis
SLAM (future release)
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Occupancy Grid
A*, AD*
Vector Field Histogram (VFH)
Voronoi Diagram
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Vector Field Histogram 1-2-3
DEMO
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Vision Capabilities
• Color tracking• Target tracking• Customized vision
analysis
• NI Vision Development Module
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think
actsense
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manipulators
Ackerman Steering
Holonomic Steering
Motion control
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Input: Wheel RadiusSeparation Distance
,, yx
Output: Wheel velocities
)(),(,, 4321
Mecanum Steering
Ackerman Steering
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Robotic Arm Functions
• Serial arm definition• Jacobian calculation• Torque calculation• Kinematics
– Forward Kinematics– Inverse Kinematics
• 3D Display
DEMO
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Other Functions
• Connectivity– MobileRobots, Skilligent API
• FPGA Digital Interfaces– I2C– SPI– RS-232
• NEMA GPS decoding• Examples and guides
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Hardware Compatibility
PC or LaptopLow cost
No real-time supportNo FPGA
NI CompactRIORugged, Real-Time
FPGA for processingVariety of modules
Single-Board RIOReal-Time
FPGA for processingNo isolation or enclosure
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Case Studies
• DARPA Challenge• RoMeLa DARwIn• LEGO• FIRST FRC• Other applications
• cRIO named “BestDesign Platform”
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Case Study: Virginia Tech/TORC Technologies Develop Odin
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The Background of Odin
• Created by Team Victor Tango
• Development partnered between Virginia Tech and TORC Technologies
• Won third place at the 2007 DARPA Urban Challenge
• Vehicle: 2005 Ford Escape Hybrid
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DARPA Challenge – 3rd and 4th placeVirginia Tech:LabVIEW, PXI, CompactRIOTeam: 15 Mech. Eng. Students
MIT :C , 40-core Linux systemTeam: 40 Comp Sci Students
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Virginia Tech: DARwInDynamic Anthropomorphic Robot with Intellligence
Theory Design Prototype Deploy
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Example: LEGO NXT Vision Tracking
Acquire
Image
Analyze
Position
PID Control
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FIRST Robotics Competition Selects National Instruments CompactRIO for Next-Generation
Robot Control System
Over 50,000 High School Students to use cRIO, powered by NI LabVIEW
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淡江大學 : 全國首創機器人研究所
大學一年級 :
LabVIEW & NXT 課程
提供學員創意平臺，快速學習
LabVIEW 操作和概念。
大學三年級，研究所 :
NI CompactRIO 用於機器人設計課程
快速原型開發和演算法測試
歷年ＦＩＲＡ世界盃機器人足球賽得獎組
初級 進階
指導教授 : 電機系主任 翁慶昌
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台灣大學機械系 :
指導教授 : 機械系主任 黃漢邦
7-DOF 人形機器手臂
使用 CompactRIO 進行初步演算法驗證
將 LabVIEW 程式下載至 sbRIO 以達成低耗電，嵌入式控制
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業界案例 : 機器人整合• 微星科技 創新前瞻研究中心
– 智慧型影音互動導覽 / 服務機器人– 內建紅外線與超音波偵測系統– 計算軌跡並自主性避開障礙
“ 在導入 LabVIEW 之前，整個機器人專案皆使用 C 語言在做開發，但這之後，我們開始嘗試並大膽採用 LabVIEW 。主要的原因是 LabVIEW 的相容性高，甚至可以整合大部分的語言程式，不會寫 C 的同事可以藉由 LabVIEW 來設計所負責的專案。”
微星科技 洪士哲 副理
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從小學到業界的圖形化機器人設計平臺
LabVIEW While Loop
LabVIEW Real-Time Timed Loop
LEGO MINDSTORMS® NXT Loop
LEGO® Education WeDo Loop
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Questions? Comments?Thank you for your time!
吳維翰 / John
行動電話 : 0910-611-802電子郵件 : wei-han.wu@ni.com
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Holonomic Robot Case Study
Robot frontφ
Wheel 1
Wheel 4Wheel 3
Wheel 2
Robot frontφ
Wheel 1
Wheel 4Wheel 3
Wheel 2
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Case study: holonomic robot
• Rotation matrix calculation• Simultaneous PID for 4 motors• Laser rangefinder for obstacle avoidance• Navigation planning• Wireless communication and HMI
• In order to do this, you MUST look at the entire system
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Acquiring Hokuyo Sensor data
Rotation Matrix CalculationObstacle Avoidance
PID closed-loop control, 4 motors
Wireless control, USB joystick interface (PC)
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NTU example
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The Challenge• Robots start at “Start Point”• Navigate to Waypoint 1. Wait for 5 seconds.• Navigate to Waypoint 2. Wait for 5 seconds.• Navigate back to “Start Point”• Penalties:
– Touch cone– Touch wall– Reset robot
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NTU movie
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Results
• 13 student surveys– Q : 此實習課程有沒有讓您對機器人技術系
統整合更加了解 ?– 13 responded yes
• Other feedback:– 易上手， programming easy– 將所有部份整合一起時，資源安排和流程分
配需要多加考慮
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