Company Events Academic Community Support Solutions Products & Services Contact NI MyNI

Simulating Mobile Robots

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

»View Product Info
Simulating Mobile Robots



Designing a Simulated Robot

Creating a Robot Model
Viewing and Positioning Robot Models
Connecting Robot Parts Using Joints
Attaching and Detaching Motors
Configuring the Properties of Robot Parts
Importing and Exporting a Robot Model

Creating a Simulation Scene

Using CAD Files to Define a Simulated Environment

Reading and Modifying Properties of Simulation Components

Units of Measurement in the Robotics Simulator

Writing VIs to Control a Simulation
Viewing a Robotics Simulation
Distributing a Simulation Program
Running a Simulation Program on a Real Robot
LVODE Properties and Methods

World

Properties

Altitude
AngularDamping
AngularDampingThreshold
AutoDisableAngularThreshold
AutoDisableFlag
AutoDisableLinearThreshold
AutoDisableSteps
AutoDisableTime
AutoEnableDepthSF1
Constraint Force Mixing
ContactMaxCorrectingVel
ContactSurfaceLayer
Error Reduction Parameter
Gravity
ID
Latitude
LinearDamping
LinearDampingThreshold
Longitude
MaxAngularSpeed
QuickStepNumIterations
QuickStepW
Time

Methods

QuickStep
Step

Mass

Properties

Center
ID
Inertia Matrix
Mass

Methods

Add
Adjust
Rotate
SetBox
SetBoxTotal
SetCapsule
SetCapsuleTotal
SetCylinder
SetCylinderTotal
SetParameters
SetSphere
SetSphereTotal
SetTrimesh
SetTrimeshTotal
SetZero
Translate

Body

Properties

Angular Velocity
AngularDamping
AngularDampingThreshold
AutoDisableAngularThreshold
AutoDisableFlag
AutoDisableLinearThreshold
AutoDisableSteps
AutoDisableTime
Data
Finite Rotation Axis
Finite Rotation Mode
Force
Gravity Mode
Gyroscopic Mode
ID
Linear Velocity
LinearDamping
LinearDampingThreshold
Mass
MaxAngularSpeed
Position
Quaternion
Rotation
Torque

Methods

AddForce
AddForceAtPos
AddRelForce
AddRelForceAtPos
AddRelTorque
AddRelTorqueAtPos
AddTorque
AddTorqueAtPos
Disable
Enable
GetJoint
GetNumJoints
GetPointVel
GetPosRelPoint
GetRelPointPos
GetRelPointVel
IsConnectedTo
IsEnabled
IsKinematic
SetDampingDefaults
SetDynamic
SetKinematic
VectorFromWorld
VectorToWorld

JointGroup

Properties

ID

Methods

Empty

Joint

Definitions for Simulated Joints
Properties

Enabled
ID
Number of Bodies
Type

Methods

Attach
GetBody
GetParam
SetParam

BallJoint

Properties

Anchor
Anchor2
CFM
ERP

HingeJoint

Properties

Anchor
Anchor2
Angle Rate
Angle
Axis:Axis
Axis:Bounce
Axis:CFM
Axis:FMax
Axis:Fudge Factor
Axis:Hi Stop
Axis:Lo Stop
Axis:Stop CFM
Axis:Stop ERP
Axis:Vel

Methods

AddTorque

SliderJoint

Properties

Axis:Axis
Axis:Bounce
Axis:CFM
Axis:FMax
Axis:Fudge Factor
Axis:Hi Stop
Axis:Lo Stop
Axis:Stop CFM
Axis:Stop ERP
Axis:Vel
Position Rate
Position

Methods

AddForce

UniversalJoint

Properties

Anchor
Anchor2
Angle1 Rate
Angle1
Angle2 Rate
Angle2
Axis1:Axis
Axis1:Bounce
Axis1:CFM
Axis1:FMax
Axis1:Fudge Factor
Axis1:Hi Stop
Axis1:Lo Stop
Axis1:Stop CFM
Axis1:Stop ERP
Axis1:Vel
Axis2:Axis
Axis2:Bounce
Axis2:CFM
Axis2:FMax
Axis2:Fudge Factor
Axis2:Hi Stop
Axis2:Lo Stop
Axis2:Stop CFM
Axis2:Stop ERP
Axis2:Vel

Methods

AddTorques
GetAngles

Hinge2Joint

Properties

Anchor
Anchor2
Angle1 Rate
Angle1
Angle2 Rate
Axis1:Axis
Axis1:Bounce
Axis1:CFM
Axis1:FMax
Axis1:Fudge Factor
Axis1:Hi Stop
Axis1:Lo Stop
Axis1:Stop CFM
Axis1:Stop ERP
Axis1:Vel
Axis2:Axis
Axis2:Bounce
Axis2:CFM
Axis2:FMax
Axis2:Fudge Factor
Axis2:Hi Stop
Axis2:Lo Stop
Axis2:Stop CFM
Axis2:Stop ERP
Axis2:Vel
Suspension CFM
Suspension ERP

Methods

AddTorques

PRJoint

Properties

Anchor
Angle Rate
Angle
Position
PositionRate
Prismatic Articulation:Axis
Prismatic Articulation:Bounce
Prismatic Articulation:CFM
Prismatic Articulation:FMax
Prismatic Articulation:Fudge Factor
Prismatic Articulation:Hi Stop
Prismatic Articulation:Lo Stop
Prismatic Articulation:Stop CFM
Prismatic Articulation:Stop ERP
Prismatic Articulation:Vel
Rotoide Articulation:Axis
Rotoide Articulation:Bounce
Rotoide Articulation:CFM
Rotoide Articulation:FMax
Rotoide Articulation:Fudge Factor
Rotoide Articulation:Hi Stop
Rotoide Articulation:Lo Stop
Rotoide Articulation:Stop CFM
Rotoide Articulation:Stop ERP
Rotoide Articulation:Vel

PUJoint

Properties

Anchor
Angle1 Rate
Angle1
Angle2 Rate
Angle2
Axis1:Axis
Axis1:Bounce
Axis1:CFM
Axis1:FMax
Axis1:Fudge Factor
Axis1:Hi Stop
Axis1:Lo Stop
Axis1:Stop CFM
Axis1:Stop ERP
Axis1:Vel
Axis2:Axis
Axis2:Bounce
Axis2:CFM
Axis2:FMax
Axis2:Fudge Factor
Axis2:Hi Stop
Axis2:Lo Stop
Axis2:Stop CFM
Axis2:Stop ERP
Axis2:Vel
Position
PositionRate
Prismatic Articulation:Axis
Prismatic Articulation:Bounce
Prismatic Articulation:CFM
Prismatic Articulation:FMax
Prismatic Articulation:Fudge Factor
Prismatic Articulation:Hi Stop
Prismatic Articulation:Lo Stop
Prismatic Articulation:Stop CFM
Prismatic Articulation:Stop ERP
Prismatic Articulation:Vel

PistonJoint

Properties

Anchor
Anchor2
Axis
Position
PositionRate
Prismatic Joint:Bounce
Prismatic Joint:CFM
Prismatic Joint:FMax
Prismatic Joint:Fudge Factor
Prismatic Joint:Hi Stop
Prismatic Joint:Lo Stop
Prismatic Joint:Stop CFM
Prismatic Joint:Stop ERP
Prismatic Joint:Vel
Rotoide Joint:Bounce
Rotoide Joint:CFM
Rotoide Joint:FMax
Rotoide Joint:Fudge Factor
Rotoide Joint:Hi Stop
Rotoide Joint:Lo Stop
Rotoide Joint:Stop CFM
Rotoide Joint:Stop ERP
Rotoide Joint:Vel

Methods

AddForce

FixedJoint

Properties

CFM
ERP

Methods

Set

NullJoint

Properties

AMotorJoint

Properties

Axis1:Bounce
Axis1:CFM
Axis1:FMax
Axis1:Fudge Factor
Axis1:Hi Stop
Axis1:Lo Stop
Axis1:Stop CFM
Axis1:Stop ERP
Axis1:Vel
Axis2:Bounce
Axis2:CFM
Axis2:FMax
Axis2:Fudge Factor
Axis2:Hi Stop
Axis2:Lo Stop
Axis2:Stop CFM
Axis2:Stop ERP
Axis2:Vel
Axis3:Bounce
Axis3:CFM
Axis3:FMax
Axis3:Fudge Factor
Axis3:Hi Stop
Axis3:Lo Stop
Axis3:Stop CFM
Axis3:Stop ERP
Axis3:Vel
Mode
Number of Axes

Methods

AddTorques
GetAngle
GetAngleRate
GetAxis
GetAxisRel
SetAngle
SetAxis

LMotorJoint

Properties

Axis1:Bounce
Axis1:CFM
Axis1:FMax
Axis1:Fudge Factor
Axis1:Hi Stop
Axis1:Lo Stop
Axis1:Stop CFM
Axis1:Stop ERP
Axis1:Vel
Axis2:Bounce
Axis2:CFM
Axis2:FMax
Axis2:Fudge Factor
Axis2:Hi Stop
Axis2:Lo Stop
Axis2:Stop CFM
Axis2:Stop ERP
Axis2:Vel
Axis3:Bounce
Axis3:CFM
Axis3:FMax
Axis3:Fudge Factor
Axis3:Hi Stop
Axis3:Lo Stop
Axis3:Stop CFM
Axis3:Stop ERP
Axis3:Vel
Number of Axes

Methods

GetAxis
SetAxis

Geom

Properties

AABB
Body
Category Bits
Collide Bits
Enabled
ID
Material
Offset Position
Offset Quaternion
Position
Quaternion
Space
Type
surface:bounce
surface:bounce_vel
surface:motion1
surface:motion2
surface:motionN
surface:slip1
surface:slip2
surface:soft CFM
surface:soft ERP

Methods

Collide
IsSpace

Space

Properties

Clean
Number of Geoms

Methods

Add
Collide
GetGeom
Query
Remove

Sphere

Properties

Radius

Box

Properties

Length

Plane

Properties

Plane

Methods

Get
Set

Ray

Properties

Closest Hit
Length

Methods

Get
Get
Set
SetParams

TriMesh

Properties

Sensor

Properties

ID
Noise
Resolution
sampling rate

Accelerometer

Properties

Acceleration

Bumper

Properties

Geom
result

Camera

Properties

Position
Target
UpDirection

Compass

Properties

Orientation

DistanceSensor

Properties

Distance
High Range
Low Range
Ray

GPS

Properties

Altitude
Ground Speed
Latitude
Longitude
TrackAngle

ForceSensor

Properties

Force

Gyroscope

Properties

Angle Rates

IMU

Properties

Acceleration
Angle Rates
Orientation
Velocity

LIDAR

Properties

Direction
High Range
Low Range
Magnitude

Methods

GetRay

Motor

Properties

ID
PID Loop Rate
Kp
Ki
Kd

Methods

Add Joint
Position Control
Velocity Control


 

Your Feedback! poor Poor  |  Excellent excellent   Yes No
 Document Quality? 
 Answered Your Question? 
Add Comments 1 2 3 4 5 submit