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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