Move a 6DOF Robotic Arm with LabVIEW

[Crismuher]

Overview

This project  shows how to move a 6 DOF Robotic Arm using LabVIEW and developed with a myRIO

Description

This project may be splitted in 3 different parts:

1- User interface with an Scene that shows how the arm is moved graphically

2- Communication with a wiimote to determine  wheather and which join is moved. It communicates with .NET

3- FPGA VI that generates the PWMs that move the servo motors

Steps to Implement or Execute Code

1. Download the .zip
2. Extract Files and choose wheter to run the simulation part (only user interface) or the whole project
3. Open LabVIEW Project:

          - If your are running the simulation one: you need to run the main VI and move the arm with the right controls

          - If your are working with the big project you need first to configure the myRIO and compile the code. Then configure the wiimote (it is explained           in an Anex in the PDF)  and then Run the Main VI.

    4. Enjoy it and give some feedback if you want...

Requirements

Software

-Everything that is included in myRIO Toolkit

-Robotics toolkit

Hardware

-myRIO

-Host PC

Additional Images or Video

They are also included in the files but you can see it first in this link:

https://www.youtube.com/watch?v=mBO41NtUvug

[manolito]

Good morning,

Where can I find, please, detailed information on how to program myRio, which pakquets have the necessary math to control a robotic arm and how to do it.

Thank you.

manolo

[Crismuher]

Hello Manolo,

First of all, the required software for using myRIO is:

• LabVIEW Development System
• LabVIEW Real-Time Module
• LabVIEW myRIO Toolkit

You can dowload the toolkit here here or install it from a NI DVD:

http://www.ni.com/download/labview-myrio-toolkit-2015/5518/en/

Additionally, you can install FPGA toolkit and other ones such as control module or simulation toolkit. The toolkits needed depend on what logic you want to implement and how complex you want your project to be. In my case I used FPGA, Simulation, RT Toolkit.

There is no spcefic web page where you can find detailed information about how to program myRIO. The only thing you need to know is that controlling a robotic arm with the myRIO is the same thing as creating a control algorithm and simulating the signals but introducing real ports.

There are many examples of code in the community and also for me was very usefull the one available in Labview examples when you have the myRIO toolkit installed. This one can be found by openning LabVIEW/Create Project/Templates/myRIO Project. You can start from this one and make some analysis of which part of code is useful and which not. There are 3 more examples in Sample projects too.

I hope this help!

Regards,

[manolito]

Thank you Crismujer.

Best regards

[manolito]

Dear Crismuher (Crismujer?)

Your email was of much help but I want to tell you that my university has the labView license with all the suites, further more, we have myRIOs. Do this modules and toolkits you are talking about, are they inside labView? Do you need to be a professional coder to do the programs you did? How did you describe the position of the tool, using Linear Transformations? Using Differential Equations? Could we talk on the phone?

I am a math. professor at MDC North Campus. My phone is 305 237 1013.

One more time I want to say thank you for your help and I expect to talk to you soon.

Thank you.

manolo

[manolito]

Sorry, it is me again. The following is the error I got trying to go to

• LabVIEW Development System<http://www.ni.com/pdf/manuals/Readme/LabVIEW/readme.html>

Page Not FoundSorry, but the page that you requested may have been moved or deleted. Search our site or use the links below:Could you insight us?Thank you.manolo

[Crismuher]

Hello again,

First of all, you need to install labview and myRIO Toolkit. You can ask your teacher for some help but I will try to help you from what I know.

Normally, Real Time and FPGA toolkits are included in the generic LabVIEW Licenses. However, The myRIO Toolkit normallly is only available when you buy one of them. I received my myRIO software in the same box as the device when I bought it. Have you ask someone in your university about it?

You also need to know that there are many different versions of LabVIEW. You have to install a compatible Toolkit for your version. About the link I sent you, it is not necessary to use that one if it does not work. You can search it in google bu "myRIO toolkit download" and the version you want to install.

Finally, the examples I told you are inside the labview. But you first need to install the toolkits and activate them in order to be able to see that examples. No, you don't need to be a proffesional to do the code I did. Furthermore, I was a last year student in my university when I did it. If you see the video, I only move joint by joint so my case is the simplest one. I just define the position by moving joint by joint but I think there are some examples of differential equations an complex control if you search through the community.

Hope this helps!

Cristina

[manolito]

Good morning Cristina,

Thank you for your message and I’ll take a look later on. Now is the end of the semester and we are very busy.

Thank you again.

manolo

Thank you for your message!!

Self-esteem comes from achievement and not for lax standards and false praise!! Condoleezza Rice.

Opportunity is missed by most people because it is dressed in overalls and looks like work. Thomas Alva Edison.

BE MATH CONFIDENT and remember... EASY PAYS $7.50.

Dr. Manuel Caramés, Ph.D. Mathematics and Physics Associate Professor Sr.

“I visualize a time when we will be to robots what dogs are to humans, and I'm rooting for the machines.” Claude Shannon<http://www.quotesdaddy.com/author/Claude+Shannon>.

eiπ + 1 = 0. The beauty of the Mathematics. The Euler’s equation.

Miami Dade College. North Campus.

Mathematics Department.

Office # 7333.

Phone: (305) 237 – 1013.

Fax: (305) 237 – 8373.

mcarames@mdc.edu.

http://faculty.mdc.edu/mcarames.

My University: Moscow Power Engineering Institute. http://en.wikipedia.org/wiki/Moscow_Power_Engineering_Institute#Faculties

Energia omnium fundamentum.

Lord, keep Your Arm around my shoulder, And, Your Hand over my mouth!

[manolito]

Thank you for your answer.

I could not thank you before because I had a surgery. Please, what labView are you talking about. I have labView 2013.

Thank you.

May God Bless You and Yur Family!!

Have a Great Weekend!!

manolo

[VLg]

Hi Crismuher,

I have downloaded the zip file, but was unable to open it (Windows gave me an error message and said the zip file was invalid). I have tried a couple of times but the outcome was the same. Would you be able to re-upload the zip file again please?

Thanks so much!

Victor