Animation in Robotics with LabVIEW Instrumentation

摘要

Animation in Robotics is one of the most important problem to be solved because with animation will be possible to obtain the best results to control the working space of robots in a space application, to control the Forward and Inverse Kinematics (FK, IK) algorithms, to control the singularity points in applications with one or multiple robots, in different cases: parallel, serial or complex robotic disposure. In the paper are shown the state of art in this field, the general algorithm used for animation and some usual cases for some type of robots like: Gun, Scara, Portal, Arm, Leg, serial, parallel or complex multi robots applications. The paper shown also the constraints for parallel robot structures and how could be animate this types of robots or the human robots like multi robot application. For all these cases were designed some LabVIEW virtual instruments (VI) what work on-line and by using the remote control or the external files or the front panel buttons, we can do some moving in the space of all robot's bodies to validate de FK and IK, to construct the parallel robot structure. The used algorithms, the cases that were studied, the applied methods and cases of animation open the way to optimal solve the complex problems in robotics.