Embed Size (px)
DESCRIPTION
Responding the continuously increasing interest about robotics and autonomous vehicle applications in Oceania from the academics, research and the industry, we decided to deliver more in depth session about our robotics solutions at National Instruments Technical Symposium tour in Australia and New Zealand. In addition to our solutions, we also wanted to back-up our technologies by different user solutions, guest presentations from different areas of robotics and we were also looking to leverage achievements and experiences of our regional partners. After being introduced to the "Big Eye" solution for robotics at the recent A1 Meeting in Austin, we invited our colleagues at NI Korea to be our guest presenters at NITS. Chu Kim also extended the invitation to the Pohang Institute of Intelligent Robotics (PIRO) to present their LabVIEW powered solution for robot aided education at our two biggest NITS locations: Sydney and Melbourne. The presentation, which featured in our ‘Robotics Showcase’, was delivered by Dr Tae Hun Kang, Research Team Manager of PIRO, and Gio Hwang, Marketing Manager from NI Korea. They presented a robot, known as ‘Big Eye’, a joint initiative between PIRO and NI Korea to provide very intuitive educational tools to tech students on the fundamentals of robotics, along with a guide to develop robotics application in LabVIEW. In addition, potential distributors for the Big Eye solution were invited to attend the session and later meet with PIRO and NI for private discussions at the events. Based on outstanding response from our audience and very good initial discussions with potential distributor in Australia, we believe the ‘Big Eye’ might salute to our students at local Universities in a very near future. As well as these event and potential distribution successes, having our colleagues from Korea with us in Australia provided an excellent opportunity to exchange ideas, share successes and experiences and trigger ideas for future collaboration. We are looking forward to future partnerships such as this with our colleagues throughout the region.Thanks to Chu Kim, Gio Hwang and Dr Kang for their enthusiasm, professionalism and support on this initiative.
Citation preview
1
Robotics Platform with LabVIEWThe first step into real Robotics Education
National Instruments Koreahttp://www.ni.com/korea
Gio Hwang
Pohang Institute of Intelligent Roboticshttp://[email protected]
Tae Hun Kang
2
Worldwide Robotics Education Trend
•∙Starting ’08, initiative to fix roboteducation for all electrical engineering isunder development
•∙Starting ’08, initiative to fix roboteducation for all electrical engineering isunder development
•Dept. of Education along with BBC hosts Robot Compitition•The British Council : Lego Education for 11~16 years students•Dept. of Education along with BBC hosts Robot Compitition•The British Council : Lego Education for 11~16 years students
• National Education Committee adoptedLego Education for Automation curriculum in1997
• National Education Committee adoptedLego Education for Automation curriculum in1997
•To further advance the science education, robotis being heavily discussed•To further advance the science education, robotis being heavily discussed
•Well-known high school adoptedrobotics course as a basic curriculum
•Well-known high school adoptedrobotics course as a basic curriculum
•STEM(Science, Technology, Engineering andMathematics) curriculum and robotics education•Through FIRST Competition, college studentsmentoring high school students, and givinggrants
•STEM(Science, Technology, Engineering andMathematics) curriculum and robotics education•Through FIRST Competition, college studentsmentoring high school students, and givinggrants
•Taiwan Department of Education established TDKfoundation to develop robot technology and humanresource, and also sponsors “TDK Cup Robot Contest”
•Taiwan Department of Education established TDKfoundation to develop robot technology and humanresource, and also sponsors “TDK Cup Robot Contest”
*Source: Ministry of Knowledge and Education of Korea
3
$8.12B (18.9% growth YOY) in 2007
Source: IFR, World Robotics 2008
Industrial Robot $5.89B
Service Robot $2.23B
Optimistic ForecastOptimistic Forecast
Mid ForecastMid Forecast
Minimum ForecastMinimum Forecast
1
Indus. Robot
Service Robot
Total
‘03 ‘05 ‘07
3,817
8,1267,771
5,5975,894
4,451
Unit: M$
634
2,174 2,232
18.7%
46.0%
2.6%
CAGR (＇03~＇07)
By 2013, Market Size will be $30B ~ $50B,2
Industrial Robot in 2012, $7.5B ~ $30B Market
By 2025, Service Robot Market will grow 10X
World Robotics Market
4
A Robotics Platform for All AgesPowered by NI LabVIEW
Kindergarten ~ 12 High-school IndustryUniversity?
5
Paradigm Shift in Robotics IndustryI Robot Industry growing larger and diversified
Industrial RobotIndustrial Robot AIAI
• Repetitive task• High precision• Structured environment• Manufacturing
• Autonomous task• High adaptability• Unstructured environment• Human friendly assistance
• Electrics• Computer• Electronics
• Automation• PID Control• Mechanics
System IntegrationSystem Integration
Intelligent Service RobotIntelligent Service Robot
• Intelligent Control• Vision• Communication
• Voice• Software• Sensor
6
Intelligent Robots- Fusion of Existing and NewTechnology
NewTechnologyNew MaterialsAIIT, BT, NT
ExistingTechnologyMechanicalElectricalControls
7
CAD Design& Simulation
SystemIdentification
ElectricalModel
MechanicalModel
Sensors,Actuators
Intelligent Robot Development Process
8
Open Platform - Connectivity
• DLL• ActiveX Library• .NET Assembly• m-file Script
Standard CommunicationProtocol
• Serial (RS232/485)• Ethernet• USB• CAN, DeviceNet• I2C, SPI• IEEE 1394• GPIB• VXI• PXI
Other Languages
ADE
• MATLAB, Simulink• SolidWorks• EXE file
9
I/O Module Development Kit (MDK)• Open Low-level Electrical Spec
• Can embed any sensor or microprocessor
• Examples of MDK
• 8, 16, 32-bit Microprocessor
• Piezo Actuator Motion Module
• GPS, GPRS, GSM Module
• MEMS Accelerometer Sensor, Gyro
Module
10
Arm: 3DOFs
Fixed Coordinate System
Wheel(right) Wheel(Left)
Body CoordinateSystem
Define Coordinate System
Inverse Kinematics
11
Inverse Kinematics
12
Inverse Kinematics Programming (C code)
13
Inverse Kinematics Programming(LabVIEW)
Pohang Institute of Intelligent RoboticsPohang Institute of Intelligent Robotics
National Instruments: KoreaNational Instruments: Korea
Platform Design
Electric Devices Development
Algorithm Development
Programming with LabVIEW
Dynamic Simulator Making
Textbook
Project OverviewProject Overview
Suggested Robot Curriculum
(1) Introduction•History of Robotics• Simulator and Program installation
(2) Part-1: Actuator, Sensor, and Network•DC/BLDC/Stepping motor• Sensors, Filters, OP-Amp•ADC/DAC•RS232/RS485/RS422/SPI/CAN/I2Ccommunication introduction
(3) Part-2: Robot Kinematics•Coordinate System Definition/modification• Forward Kinematics /Inverse Kinematics
(5) Part-4: Intro to Robot Engineering(Mobile: Kinematics)•Analysis based on different shapes of wheels•Mobile Robot Analysis
(4) Part-3: Intro to Robot Engineering(Dynamics)•Velocity/Acceleration Analysis• Jacobians•Dynamics Analysis
(6) Part-5: Intro to Robot Engineering(Mobile: Localization)• Location Recognition/Kalman Filter•Mapping
(7) Part-6: Intro to Robot Engineering(Mobile: Path Planning)• Entire and partial Directional Configuration
(8) Part-7: Controls• System Modeling• PID Control• Path Planning
(9) Part-8: Artificial Intelligence•Neural Network• Fuzzy/Genetic Algorithm• Emotion to Robotics
Advanced Education
Practical Education
Foundation / Basics
1st STEP
2nd STEP
3rd STEP
•Introduction to robotics and mechatronics
•Overview of LabVIEW
•Understanding the needs of the learners.
•Mechanical Design
•Electric Circuit Design
•Networks between devices
•Basic control theory
•Rigid body Kinematics and dynamics
•System design
•Robot application
Tutorial / Education PlanTutorial / Education Plan
Textbook ContentsTextbook Contents
Introduction to Robotics
Actuator, Sensor, Network
Robot Kinematics / Dynamics
Wheel based robot: Localization
Artificial Intelligence
Practice
Overview of BigEye
Component Control
Robot Platform
BigEye
Introduction to LabVIEW
LabVIEW : Programming Study
LabVIEW : Data Acquisition
CompactDAQ (ADC/DAC)
Overview of LabVIEW
Navigation / Localization
Simulation
Two/Three DOFs system
Robot platform: BigEye
Model based control
Fuzzy, Genetic AL. etc.
LabVIEW
Basic Programming
LabVIEW Programming
Introduction to DAQ
Compact DAQ
Hands-on ExerciseTheory
TextbookTextbook
Head•CMOS camera(2EA)
•RF Module
Dual Arm•3DOFs for each arm(RC Motor)
•Position control
Power manager•controlled by main
controller or remote
operatorWheel & Driving Unit
•Differential Driven
•BLDC motor(50watt)
•Harmonic drive(50:1)
Sonar Sensor•7EA
•Range: 15~500cm
Battery•Li-Poly
•11.1volt 2200mah, 18C
•Operation time: 2hr
Main Controller•NI cRIO-9004
•4CH
Slot•Additional two slots
Sub-Controller•BLDC Motor
Robot PlatformRobot Platform
piroNI
cRIO
LabView
SRF-02
DX-117
Ecflat 45
piroBLDC
piroSONARWireless RS232
Motor
Encoder
Motor
Encoder
RS485
I2C
cRioBus
RS485
RS485
Robot PlatformRobot Platform
piroARS
Viewer
Geometry Engine
Texture Lib.
TCP/IP
Robot Model
Dynamics Engine- ODE- Bullet- Physx
Collision Engine
Model Lib.
Environment Lib.
Utilities
Scope
External A
Mesh Generator
VRML Viewer
Robot@SimulatorRobot@SimulatorRobot@SimulatorRobot@Simulator Controller@LabViewController@LabViewController@LabViewController@LabViewVirtual Device Driver
PWM
Encoder
Inclinometer
Sonar Sensor
RC Motor
Controller
Balancing Algorithm
FK / IK
Motion Planning
Sensor Fusion
TCP/IP
Feedback
Query
Robot SimulatorRobot Simulator
Robot status from the Simulator(TCP/IP)
Control Command tothe Simulator(TCP/IP)
Virtual Device Driver Balancing & Rotation Control
Arm Control
Robot SimulatorRobot Simulator
Reference AlgorithmReference Algorithm
Reference AlgorithmReference Algorithm
Thank You
