LabVIEW 2012 Robotics Full Win32Eng LV2012机器人模块Robotics2012完整版下载

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LabVIEW 2012 Robotics Full Win32Eng LV2012机器人模块Robotics2012完整版下载

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RBT2012

LabVIEW 2012 Robotics Module Readme

Version 12.0

June 2012

This file contains important information about the LabVIEW 2012 Robotics Module, including installation instructions, new features, and known issues. This file also contains information about using the LabVIEW Robotics Starter Kit and LabVIEW Robotics Software Bundle.

Overview

System Requirements

Installation Instructions

Recommended Device Drivers for Robotics

New Features

Behavior Changes

Known Issues

Bug Fixes

Accessing the Help

Finding Examples

Automating the Installation of NI Products

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Overview

The LabVIEW Robotics Module is a software package that allows you to develop robotics applications using LabVIEW. The Robotics Module provides robotics-related algorithms, drivers that allow you to control certain sensors, hardware and software setup wizards, and example VIs that demonstrate robotics concepts.

The LabVIEW Robotics Starter Kit gives you access to the products you need to program the robot in your Starter Kit package. The LabVIEW Robotics Software Bundle gives you access to the LabVIEW Robotics Module and many other products in the LabVIEW platform.

System Requirements

In addition to the system requirements for the LabVIEW Development System, the Robotics Module has the following requirements:

• LabVIEW 2012 Full, or Professional Development System (32-bit)
• At least 350 MB of disk space
  

Refer to the LabVIEW Readme for additional system requirements and supported operating systems for LabVIEW 2012.

Installation Instructions

You can install all of your LabVIEW products—including the Robotics Module, Robotics Starter Kit, and Robotics Software Bundle—using the LabVIEW 2012 Platform DVDs. Refer to the LabVIEW Installation Guide on the LabVIEW Platform DVD 1 for installation instructions and system requirements.

To request additional LabVIEW Platform DVDs, refer to the National Instruments website.

Note  If you purchased this product with an NI Software Suite or NI Product Bundle, use the installation media that shipped with your purchase to install this product.

Note  Some Robotics Module features, such as the Robotics Project Wizard, Hardware Setup Wizard, and many examples, require additional National Instruments software, such as the LabVIEW Real-Time (RT) Module, LabVIEW FPGA Module, and NI-RIO drivers. If you purchased the Robotics Starter Kit or Robotics Software Bundle, you have access to this software. If you purchased just the Robotics Module, select Start»All Programs»National Instruments»NI License Manager to launch the NI License Manager, which displays the software for which you have access.

Installing Hardware

If you purchase the Robotics Starter Kit or Robotics Software Bundle, you need to install and configure National Instruments hardware after you install the device drivers. If you use an NI Single-Board RIO or CompactRIO product, you can use the National Instruments Robotics Hardware Setup Wizard, which launches after you install the Robotics Starter Kit or Robotics Software Bundle and restart the computer, to configure the target. In the Robotics Hardware Setup Wizard, complete the instructions that appear on the screen to detect RT targets in the system and configure a target for use. You also can select Start»All Programs»NI Robotics Hardware Setup to launch the Robotics Hardware Setup Wizard.

If you use another type of target, use the National Instruments Measurement & Automation Explorer (NI MAX) to detect, configure, and test an RT target. Launch NI MAX by selecting Start»All Programs»National Instruments»Measurement & Automation Explorer or by double-clicking the NI MAX icon on the desktop.

Refer to the installation instructions included with your device for additional information about installing and configuring your National Instruments device.

Purchasing Robotics Run-Time Licenses

You must purchase a Robotics Module Run-Time License for each target machine not produced by National Instruments onto which you want to install a robotics application. Refer to the National Instruments website for more information about Robotics Module run-time licensing. Contact a National Instruments sales representative or visit ni.com to purchase run-time licenses.

Note  Other products you use to develop robotics applications also might require run-time licenses. Refer to the documentation for those products for information about purchasing run-time licenses.

Products in the Robotics Starter Kit

The Robotics Starter Kit contains the following products, which you can evaluate for one year. When your evaluation period ends, you can purchase the Robotics Software Bundle which gives you access to the Robotics Module and many other products in the LabVIEW platform, including the products in the Robotics Starter Kit. Refer to the product readmes for information about each product, including installation and activation instructions, known issues, and bug fixes:

• LabVIEW Development System
• Control Design and Simulation Module
• FPGA Module
• MathScript RT Module
• PID and Fuzzy Logic Toolkit
• Real-Time Module
• Robotics Module
• Vision Development Module
  

Note  The Robotics Starter Kit contains compilation tools for Virtex5 and newer devices, such as the Starter Kit hardware target. The Robotics Starter Kit installer also installs NI-RIO which includes NI-RIO drivers and support for the Starter Kit hardware target.

Products in the Robotics Software Bundle

The Robotics Software Bundle contains the following products. Refer to the following readmes for information about each product, including installation and activation instructions, known issues, and bug fixes:

• LabVIEW Development System
• Control Design and Simulation Module
  
  • Control Design Assistant
    
• FPGA Module
• MathScript RT Module
• NI SoftMotion Module
• PID and Fuzzy Logic Toolkit
• Real-Time Execution Trace Toolkit
• Real-Time Module
• Robotics Module
• Statechart Module
• System Identification Toolkit
• Vision Development Module
  

Note  The Robotics Software Bundle also contains compilation tools for Virtex5 and newer devices.

Recommended Device Drivers for Robotics

National Instruments recommends you install the device drivers under the following categories from the NI Device Drivers media for use in programming common robotics applications.

Note  When an item in the Features tree of the NI Device Drivers media allows you to choose support for multiple versions of LabVIEW, select support for LabVIEW 2012.

• Data Acquisition
  
  • NI-DAQmx
    
• Instrument Control
• Reconfigurable I/O
• Motion
• Vision Acquisition Software
• Distributed I/O
• Real-Time and Embedded
• NI I/O Trace
• NI Measurement & Automation Explorer
  

New Features

The LabVIEW 2012 Robotics Module introduces the following new features and enhancements.

Importing and Building Simulated Robots and Components

The Robot Simulation Model Builder helps you create a robot model from predefined components or from a computer-aided design (CAD) robot model that you import into the builder. You can add robot components, sensors, and joints to the robot model. Use the robot model you design to simulate the behavior of real robots in a simulated environment that you set up with the Robotics Environment Simulator Wizard.

Select Tools»Robot Simulation Model Builder to launch the Robot Simulation Model Builder.

Refer to the Robotics Module»Simulating Mobile Robots»Designing a Simulated Robot book on the Contents tab in the LabVIEW Help for more information about importing and building simulated robots and components.

Improved Support for Common Types of Robotic Arms

Use the Initialize Serial Arm to create serial arm representations. You can represent generic arms with custom parameters or represent arms that meet the definitions for SCARA arms and some 6R arms.

The new Analytical Inverse Kinematics VI provides an analytical solver for SCARA and 6R arms you create with the Initialize Serial Arm VI. The Analytical Inverse Kinematics VI is suitable for use in applications that require deterministic execution times. The existing Inverse Kinematics VI provides a numerical solver, which typically is not suitable for deterministic execution. Choose an inverse kinematics solver according to the arm type you generate

Refer to the Robotics Module»Controlling Serial Robotic Arms topic on the Contents tab of the LabVIEW Help for more information about these VIs, including which SCARA and 6R arms they support.

New Rangefinder Indicator

The Robotics palette contains a rangefinder indicator, which displays the locations of obstacles on a polar plot. Pass data from sensors that acquire the angles and distances to obstacles, such as LIDAR sensors, to this indicator. With the front panel open, select View»Controls Palette to display the Controls palette. Expand the Robotics category to access this indicator.

Refer to the Robotics Module»Creating Robotics Applications»Front Panel Indicators for Robotics topic on the Contents tab in the LabVIEW Help for more information about this indicator.

New VIs

The Robotics palette includes the following new VIs and nodes:

• The Steering palette includes the Configure Steering Frame Express VI.
• The Simulator palette includes the Take Simulation Steps VI.
• The Serial Arm Definition palette includes the Initialize Serial Arm VI and Acquire Kinematic Parameters VI.
  

Refer to the Robotics Module»Robotics VIs book on the Contents tab of the LabVIEW Help for more information about these VIs.

Behavior Changes

The LabVIEW 2012 Robotics Module includes the following behavior changes.

Palette and VI Changes

The Robotics Module 2012 includes the following changes to palettes and VIs:

• The following items no longer appear on the Serial Arms Definition subpalette of the Robotic Arms palette:
  
  • Append Link VI
  • Get Links VI
  • Set Links VI
  • Links subpalette
    
    • Set Dynamic Parameters VI
    • Set Kinematic Parameters VI
      
    
    
  Instead of the previous VIs, use the Initialize Serial Arm VI to define and create serial arms.
• The Create Steering Frame and Create Wheel VIs are moved from the Steering palette to the Advanced subpalette of the Steering palette.
• The Get Simulator Reference Polymorphic VI on the Simulator palette has the following new instances:
  
  • Get Robot Component Reference
  • Get Obstacle Reference
  • Get Joint Reference (Ball)
  • Get Joint Reference (Fixed)
  • Get Joint Reference (Hinge)
  • Get Joint Reference (Slider)
    
• The Start Simulator Service VI on the Simulator palette has two new inputs to set up the step mode and timing mode.
  

Changes in Xilinx Support for FPGA Targets

The LabVIEW 2012 Robotics Starter Kit and Robotics Software Bundle include Xilinx 13.4. Refer to the KnowledgeBase for a list of targets supported by Xilinx 13.4. To download an alternative version of Xilinx, contact National Instruments technical support.

Known Issues

You can access the software and documentation known issues list online. Refer to the National Instruments website for an up-to-date list of known issues in the Robotics Module.

Bug Fixes

The following items are the IDs and titles of a subset of issues fixed in the Robotics Module. This is not an exhaustive list of issues fixed in the current version of the Robotics Module. If you have a CAR ID, you can search this list to validate the issue has been fixed.

ID	Fixed Issue
299301	Simulator Wizard generated VIs do not inherit SourceOnly settings from project or environment options.
305019	Licensing screen asks for Robotics Bundle DVD after installation.
305630	Simulated Starter Kit robots use values from SensorMotorOffset file.
305886	Starter Kit API will not run with a simulated robot that has missing sensors.
307936	The simulated accelerometer returns incorrect value when using the flat ground environment.
322086	Reference leaks when running the Traffic Robot Simulator example.
327276	Simulated Mecanum Robot doesn't work on an OS that uses a comma for the decimal point.
328264	Simulator fails to parse the Kinetic Friction Coefficient.txt on an OS that uses a comma for the decimal point.

Accessing the Help

Refer to the LabVIEW Help, accessible by selecting Help»LabVIEW Help from LabVIEW, for information about the Robotics Module.

Refer to the LabVIEW Robotics Starter Kit Safety Guide (StarterKit_Safety_Guide.pdf in the labview\readme directory) for important information about protecting yourself from injury and protecting the Starter Kit hardware from damage.

Finding Examples

Select Help»Find Examples from LabVIEW to launch the NI Example Finder. LabVIEW examples for the Robotics Module are located in the labview\examples\robotics directory. You can modify an example VI to fit an application, or you can copy and paste from one or more examples into a VI that you create.

Refer to the Robotics Module»Reusing Robotics Examples topic on the Contents tab of the LabVIEW Help for information about adapting LabVIEW project-based examples that include hardware targets to fit a different target you want to use.

Some robotics examples require additional National Instruments software, such as the LabVIEW FPGA Module, Control Design and Simulation Module, or Vision Development Module. In the NI Example Finder, select an example and refer to the Information section for a list of software you must install to run the example.

Note  (Windows 7/Vista) When you open an FPGA VI in some LabVIEW project-based examples, the VI appears to have unsaved changes because the default LabVIEW font on Windows 7 and Vista differs from the default font on Windows XP. LabVIEW prompts you to save these cosmetic changes to the VI, which requires you to recompile the FPGA VI. If the VI has no other changes, you can save and recompile the VI to avoid this unsaved state when you open the FPGA VI in the future.

Automating the Installation of NI Products

You can automate the installation of most NI products using command-line arguments to suppress some or all of the installer user interface and dialog boxes. However, starting with the August 2012 releases (products using NI Installers version 3.1 or later), you may need to perform additional steps before or during a silent installation of NI software.

If the NI product you are installing uses Microsoft .NET 4.0, the .NET installer may run before any NI software installs and may require a reboot before the installation of NI software begins. To avoid a .NET reboot, install .NET 4.0 separately before you install NI software.

For more information, refer to the following KnowledgeBase articles:

• For more information on silent installations of individual NI products, refer to KB 4CJDP38M, Automating the Installation of a Single Installer.
• For more information on silent installations of suited NI products, such as NI Developer Suite, refer to KB 4GGGDQH0, Automating the Installation of a Suited Installer.
• To determine what version of NI Installers your product contains, refer to KB 4CJDR18M, How Can I Determine the Type and Version of My National Instruments Installer?.
  

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Important Information

Copyright

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• Notices are located in the \_Legal Information and directories.
• EULAs are located in the \Shared\MDF\Legal\license directory.
• Review \_Legal Information.txt for information on including legal information in installers built with NI products.
  

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Other product and company names mentioned herein are trademarks or trade names of their respective companies.

Patents

For patents covering the National Instruments products/technology, refer to the appropriate location: Help» Patents in your software, the patents.txt file on your media, or the National Instruments Patent Notice at ni.com/patents.