University of Wollongong Robotics Research & Labview

Nathan Larkin, Zengxi Pan

Faculty of Engineering and Information Sciences

Introduction

• Robotics Research at UOW.

• Facilities.

• Labview and NI Hardware.

• Applications:

– Robot sensor integration.

– Data acquisition.

– High speed welding control.

Robotics Research at UoW

• The UoW Applied Automation Research Group specialises in industrial robotics research.

• Almost completely funded from industry sources:

– Defence Materials Technology Centre, commercial contracts, leveraged funding.

• Predominately operate in applied research space.

• Current focus is on automated welding and joining.

Facilities

Robots:

• IRB 6660 – Force Control

• IRB 4400

• IRB 1410

• IRB 120

Automated Welding :

• T-GMAW

• GMAW with dip transfer & Pulse capability

• TIG

• 3kW Laser

Facilities

Labview

Labview

• Simple to program (after a bit of a learning curve).

• Powerful system integration.

• Easy graphing capability, and UI development.

• Robust high-speed control.

• Examples:

– Robot and sensor Integration.

– Data acquisition.

– Weld process control.

Robot and Sensor Integration

Integration of metrology system to improve robot accuracy.

• High accuracy drilling.

• Dynamic position compensation.

Labview

Robot and Sensor Integration

Labview

.NET .NET

Robot and Sensor Integration

Robot and Sensor Integration

Labview

.NET .NET

Matrix Operations

Robotics Toolbox

TCP/IP Comms

Robot and Sensor Integration

• Self Programming:

– Robot discovers environment with 3D sensor.

– Identifies and generates weld motions.

– Welds part.

Robot and Sensor Integration

Labview

Matlab

Robot and Sensor Integration

Weld Data Acquisition

• Automated welding data logging system.

• Input signals through NI USB-6009.

• Continuous collection of data.

– Records data set on specific triggers set in software.

– Data is recorded and saved for analysis.

Weld Data Acquisition

Weld Process Control

• Development of novel weld process for additive manufacture.

• Aim is to deposit a single weld drop:

– Strike arc with substrate.

– Melt small amount of wire.

– Move wire forward to deposit drop.

– Pinch off droplet.

– Retract wire.

– Extinguish arc.

Weld Process Control

• Several specific requirements:

– Accurate identification of welding events.

– High speed input monitoring.

– uS timing resolution.

• Deployed on real-time control system (SB-RIO)

– Uses same programming language.

– HS control utilises FPGA (uS/nS control steps).

– Powerful UI capabilities.

Weld Process Control

V / I Feedback

SB-RIO

Current Amplifier

Encoder Feedback

PC

Weld Process Control

Conclusions

• Industrial robotics research involves integration of many components.

• Labview enables:

– efficient system integration of robots with other components.

– fast development of high speed real time control systems.

– generation of powerful data acquisition applications.

Thank you – Questions?