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Creating a Robot Model (Robotics Module)

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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You can create a robot model with necessary robot parts, such as wheels, tracks, arms, sensors, and so on. You can create a robot model using CAD models that you import or using predefined models that LabVIEW provides.

Using CAD Models

You can import a robot model, robot component, or sensor by using the Import button of the Robot Simulation Model Builder.

You also can add component models by importing CAD models from the User Model Library in the builder. Complete the following steps to add a component model in the builder using CAD models.

  1. Launch the builder, select the User Model Library folder in the Model Library tree, right-click the folder and select Add Models from the shortcut menu.
  2. Navigate to the CAD model file you want to import. Click OK to import this model and modify the model in the CAD Model Importer.
    Note  The LabVIEW Robotics Module supports CAD model files with the extensions .ive, .dae, and .wrl.
  3. In the importer, add physical models to the CAD model.
  4. (Optional) In the Properties table, modify the properties of the physical model.
  5. Click OK to save the model files and add a component model to the Model Library in the builder.
    Note  The default folder for saving model files in the CAD Model Importer is LabVIEW Data\Robotics\Simulator\Model\Config\Customized Parts. You must save component model files to this directory.

The component model you import displays in the User Model Library tree. You can use component models to create a robot model. Select a component model in the User Model Library, right-click the model, and select Add to View from the shortcut menu to add the model to the Model View.

Configuring the Physical Model of a CAD Model

The CAD model that you import in the CAD Model Importer only has visual models. You need to add physical models to the CAD model for use in the Robot Simulation Model Builder.

To add a physical model for the CAD model, select a visual model in the Model Tree of the importer, right-click the visual model, and select Physical Model from the shortcut menu. You can configure the physical model as a box, sphere, or cylinder.

If the CAD model consists of several nodes, you can add physical models to each node and configure the properties for each physical model you add to the node. In this way, you can make the physical model of the CAD model proximate to the visual model. The CAD model behaves more sensitive in the simulation scene.

Using Predefined Models

If you do not have CAD models, you can create a robot model from scratch using the predefined models in the Built-in Model Library folder of the Model Library. LabVIEW provides predefined models of robots, sensors, wheels, tracks, arms, and simple objects. You can create robot parts with the different types of predefined models.

Select a predefined model and use one of the following methods to create a robot part.

  • Drag the model from the Model Library to Model View.
  • Right-click the model and select Add to View from the shortcut menu to add the model to the Model View. The model appears at the origin of the simulated environment.
  • Preview the model in the Model Preview. Hold <Ctrl>, click, and drag the robot model from Model Preview to Model View.

The model that you add to the Model View is a part of the robot model. Repeat the previous methods to add multiple parts to the robot model. You can connect the robot parts with joints to create an integrated robot model.

Track Models

A track model consists of a crawler box, grousers, and wheels. You can add wheel models to a track model. LabVIEW provides a SuperDroid (SD6) track model for you to create tracks for a robot model. By using the Configure Track dialog box, you can complete the following tasks to create a robot track from the SD6 track model.

  • Edit the properties of the crawler box, grousers, and wheels in the Properties table.
  • Set up the track models and numbers.
  • Add wheels to a track model or remove wheels from a track model in the Model List.

Wheel Models

A wheel model consists of a wheel frame and the rollers on the wheel frame. LabVIEW provides the following wheel models for you to create wheels for a robot model.

Wheel Model Description
Simple Wheel Simple wheels travel forward and backward and cannot change the angle. The Starter Kit 2.0 robot uses simple wheels as front wheels.
Omni Wheel Omni wheels consist of a series of rollers around the circumference, oriented perpendicular to the wheel axis. The Starter Kit 2.0 robot uses an Omni wheel as one rear wheel.
Mecanum Wheel Mecanum wheels consist of a series of rollers around the circumference, oriented 45 degrees from the wheel axis.

To add a wheel to the robot model, select a wheel model in the Model Library, right-click the wheel model, and select Add to View from the shortcut menu. When you add an Omni or Mecanum wheel model to the robot model, the Configure Wheel dialog box opens. You can configure the wheel properties in this dialog box. Click OK to save changes to the configuration.

Arm Models

You can design a robot arm in the builder and add arms to a robot model. LabVIEW provides a Denavit-Hartenberg (DH) arm model for you to create arms for a robot model. DH arms are the generic serial arms that follow the DH convention, which considers a link and the joint at the end of the link to make up a link. Click and drag a predefined DH arm from the Model Library to the Model View. When you add a DH arm to a robot model, the DH Arm Generator dialog box opens. You can modify the links and configure the DH properties of the link in this dialog box. Click OK to add the arm to the robot model.


 

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