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LabVIEW Manual
Citation preview
1
LabVIEW Robotics Starter Kit (DaNI)
Lab Exercises
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Dr. James Conrad
John Wilkes
Outline
Course Information
Lab Development and Materials
Lab Descriptions and Demonstrations
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Lab Descriptions and Demonstrations
Results and DaNI model Comparison
Conclusion
UNC Charlotte Intro to Robotics Course
Senior/Graduate level.
Prerequisite: Programming course, Senior standing.
Currently only offered in the summer.
Program a modern microcontroller using LabVIEW
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Program a modern microcontroller using LabVIEW
and operate its peripheral devices.
Book: Autonomous Mobile Robots by Roland
Siegwart, second edition, 2011.
UNC Charlotte Robotics Course (Cont).
Identify general concepts of Systems Engineering.
Identify sensors and integrate them in a robot.
Design motion sub-systems (DC motors, servos,
steppers, linear actuators) and identify how they
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steppers, linear actuators) and identify how they
would be integrated in a robot.
Design a motion trajectory planning algorithm and
implement it in a robot.
Hands-on labs a major part of course.
Development of Labs Senior Design
Original labs developed as a UNCC sponsored
senior design project
Team of 3 Computer Engineering students
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Team of 3 Computer Engineering students
Labs developed over 2 semesters
Deliverables: Labs, tutorials, solutions
Sr. Design requires extensive project
management and reporting documentation
Development of Labs, Additional Materials
Sensors
Accelerometer: ADXL 320
Infrared: Sharp GP2Y0A21YK
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Infrared: Sharp GP2Y0A21YK
Sensor Bracket / Extender
Wiring
Materials Available to Instructors
Lab Assignments
Gives background information and requirements for
the labs
Lab tutorials
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Lab tutorials
Step-by-step instructions for completing labs
Solutions
LabVIEW VI files
Lab 1 Intro. to LabVIEW Robotics
Introduction / Tutorial packet ships with the DaNI
robotic platform
Basic tutorial for creating a LabVIEW robotics
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Basic tutorial for creating a LabVIEW robotics
project
Hardware setup and configuration
Tests motors and ultrasonic sensor
Lab 2 Motor Control
Teaches basic concepts of locomotion using a
wheeled robotic platform
Goal Robot will traverse a 2x2 Meter square
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Goal Robot will traverse a 2x2 Meter square
2 Meters
Lab 2 Demonstration
Live demonstration
Student video
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Lab 3 Edge Detection
Teaches concepts of hierarchy
Adding sensors to DaNISharp GP2Y0A21YK
Infrared Sensor
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Infrared Sensor
A
n
a
l
o
g
V
o
l
t
a
g
e
(
V
o
)
Distance (cm)
Lab 3 - Demonstration
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Lab 4 - Accelerometers
Teaches the use of an accelerometer with a
robotic platform
Accelerometer used as a tilt detector
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Accelerometer used as a tilt detector
ADXL 320
Lab 4 Demonstration
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Lab 5 A* Path Planning
Teaches integration of a completed algorithm
with the DaNI robotic platform
Requires a mastery of basic motor control
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Requires a mastery of basic motor control
Utilizes multiple sub VIs
2D Arrays
Lab 5 A* Path Planning
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Lab 6 Obstacle Course
Students must use DaNI, along with any sensors
of their choosing to navigate an obstacle course
Student Examples:
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Student Examples:
Modified A*
Measurement
Sub VIs
Sensors
Lab 6 Demonstration Using A*
DaNI 1.1 video
DaNI 2.0 video
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Student Reception to LabVIEW
Previous courses had a strong embedded
development component (design complete
subsystems)
Students were at first enthusiastic about learning
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Students were at first enthusiastic about learning
LabVIEW
Learning curve was steep for a 10-week course
DaNI 1.1 FPGA compile times (up to 25 minutes)
too long for rapid prototyping
DaNI 1.1 vs. DaNI 2.0
DaNI 1.1
Gears
4 wheels
sbRIO-9631
DaNI 2.0
Direct Drive
3 wheels
sbRIO-9632
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sbRIO-9631
LabVIEW 2009
sbRIO-9632
LabVIEW 2011
Labs in Development
Vision Acquisition
Axis network camera is used
to track another robot using
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to track another robot using
color detection
Will follow another robot in
a convoy like fashion
Axis M1011 Network Camera
Conclusion LabVIEW Platform provides a good environment for
rapid implementation
Student reception has been guarded
LabVIEW learning curve is a bit overwhelming for some
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LabVIEW learning curve is a bit overwhelming for some
DaNI 1.1 vehicle not ideal
DaNI 1.1 FPGA compile times too long
DaNI 2.0 vehicle and development environment
provides an excellent platform for course.
Contact Info
James M. ConradAssociate ProfessorDept. of Electrical and Computer Engineering
UNC-Charlotte9201 University city Boulevard
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9201 University city BoulevardCharlotte, NC [email protected]*http://www.ece.uncc.edu/~jmconradPhone: 704-687-8597Fax: 704-687-4762
* Preferred method of contact
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