Title :
Implementation of a PC based controller for a PUMA robot
Author :
Katupitiya, J. ; Radajewski, R. ; Sanderson, J. ; Tordon, M.
Author_Institution :
Sch. of Mech. & Manuf. Eng., New South Wales Univ., Sydney, NSW, Australia
Abstract :
The paper describes the replacement of the controller for a PUMA 512 robot with a newly designed PC based controller employing real-time direct control of the six articulated joints. The original mechanical structure of the PUMA 512 has been retained. The control software has been implemented by user programs written in C and C++ programming languages. The hardware of the new controller includes in-house designed: PWM amplifiers; PC interface cards; and a watchdog timer. The system uses two PC interface cards, each providing: two 24 bit and one 16 bit quadrature counters; a 12 bit analog to digital converter; a timer; and digital input/output. An Intel 486 DX2-66 based computer is used as the central controller. Preliminary results of the system performance are included
Keywords :
DC motors; control systems; controllers; digital control; industrial manipulators; microcomputer applications; peripheral interfaces; permanent magnet motors; software engineering; special purpose computers; 12 bit analog to digital converter; Intel 486 DX2-66 based computer; PC based controller; PC interface cards; PUMA 512 robot; PWM amplifiers; central controller; control software; quadrature counters; real-time direct control; user programs; watchdog timer; Counting circuits; Hardware; Motor drives; Operational amplifiers; Power amplifiers; Pulse width modulation; Robots; Servomechanisms; Servomotors; Shafts;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on
Conference_Location :
Toowoomba, Qld.
Print_ISBN :
0-8186-8025-3
DOI :
10.1109/MMVIP.1997.625229
