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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 28223jmconrad@uncc.edu*http://www.ece.uncc.edu/~jmconradPhone: 704-687-8597Fax: 704-687-4762

* Preferred method of contact

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