Title :
Hardware retrofit and computed torque control of a Puma 560 Robot updating an industrial manipulator
Author :
Becerra, Victor M. ; Cage, Callum N J ; Harwin, William S. ; Sharkey, Paul M.
Author_Institution :
Dept. of Cybern., Reading Univ., UK
Abstract :
This article describes a third-year undergraduate project that involved the retrofit of a PUMA 560 manipulator robot, its interface with a PC, MATLAB-based software development for trajectory generation and graphical user interface, and a SIMULINK implementation of a PID computed torque control scheme. The project is an example of how a mechanically sound robotic platform with obsolete interfaces can be revitalized at low cost, enabling users to perform experimental research on the manipulator using a modern and flexible software interface based on MATLAB and SIMULINK.
Keywords :
control engineering computing; control engineering education; graphical user interfaces; manipulators; software engineering; student experiments; three-term control; torque control; PID computed torque control scheme; PUMA 560 manipulator robot; computed torque control; flexible software interface; graphical user interface; hardware retrofit; industrial manipulator; mechanically sound robotic platform; obsolete interfaces; software development; third-year undergraduate project; Computer industry; Computer languages; Educational robots; Graphical user interfaces; Hardware; Industrial control; Manipulators; Programming; Service robots; Torque control;
Journal_Title :
Control Systems, IEEE
DOI :
10.1109/MCS.2004.1337867
