Implementation of a new PC based controller for a PUMA robot
- 90 Downloads
This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.
Key wordsProgrammable universal machine for assembly (PUMA) robot Computed torque control (CTC) Pulse width modulation (PWM) amplifier Graphical user interface (GUI)
CLC numberTP2 TP311
Unable to display preview. Download preview PDF.
- Chartrand, L., 2004. Advanced Digital Systems and Concepts with CPLD’s (1st Ed.). Thomson Delmar Learning.Google Scholar
- Corke, P.I., 1993. Operational Details of the Unimation Puma Servo System. Report, CSIRO Division of Manufacturing Technology. Australia.Google Scholar
- Fiedler, P., Schlib, C., 1998. Open architecture robot controllers and workcell integration. Robotics Today, 11(4):1–4.Google Scholar
- Katupitiya, J., Radajewski, R., Sanderson, J., Tordon, M., 1997. Implementation of a PC Based Controller for a PUMA Robot. Proc. 4th IEEE Conf. on Mechatronics and Machine Vision in Practice. Australia, p.14–19. [doi:10.1109/MMVIP.1997.625229]Google Scholar
- Lewis, F.L., Abdallah, C.T., Dawson, D.M., 2004. Robot Manipulator Control: Theory and Practice (2nd Ed.). Marcel Dekker.Google Scholar
- Maciejowski, J.M., 2002. Predictive Control with Constraints (1st Ed.). Prentice Hall.Google Scholar
- Pan, L.D., Huang, X.H., 2004. Implementation of a PC-based Robot Controller with Open Architecture. Proc. IEEE Int. Conf. on Robotics and Biometrics, p.790–794.Google Scholar
- Sorenson, S., 1993. Overview of Modular, Industry Standard Based Open Architecture Controller. Proc. Int. Conf. Robots and Vision Automation. Detroit Michigan, USA.Google Scholar
- Unimation Robotics. 1983. User’s Guide to VAL 398P2A: A Robot Programming and Control System. Unimation Inc., Danbury, Connecticut, USA.Google Scholar
- Vistness, R., 1982. Breaking away from VAL. Technical Report, Unimation Inc. Danbury, Connecticut, USA.Google Scholar