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Implementation of a new PC based controller for a PUMA robot 被引量：2

Implementation of a new PC based controller for a PUMA robot
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摘要 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. 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.
作者 FAROOQ M.
机构地区 College of Automation Engineering
出处 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2007年第12期1962-1970,共9页 浙江大学学报（英文版）A辑（应用物理与工程）
关键词 Programmable universal machine for assembly （PUMA） robot Computed torque control （CTC） Pulse width modulation （PWM） amplifier Graphical user interface （GUI） 自动化技术 程序设计 控制器 计算机矩阵
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献10

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同被引文献13

  • 1方正,杨华,胡益民,徐心和.嵌入式智能机器人平台研究[J].机器人,2006,28(1):54-58. 被引量：30
  • 2BRUYNINCKX Herman. Open Robot Control Software:the OROCSO Project [ C ]//Proceeding of tile 2001 IEEE Inter- national Conference on Robotics &Automation, South Kore- a ,2001:2523 - 2528.
  • 3PAN Liandong, HUANG Xinhan. Implementation of PC- based Robot Controller with Open Architecture [ C ]//Pro- ceeding of the 2004 IEEE International Conference on Ro- botics and Biominetics,Shenyang, China,2004:790 - 794.
  • 4HONG Keum-Shik, CHOI Kyung-Hyun, KIM Jeom-Goo, et al. A PC-based Open Robot Control System : PC-ORC [ J ]. Robotics and Computer Integrated Manufacturing, 2001, 17:355 - 365.
  • 5BECERRA V M, CAGE C N J, HARWIN W S, et al. Hard- ware Retrofit and Computed Torque Control of a Puma 560 Robot Updating an Imtustrial Manipulator [ J ].IEEE Con- lrol Systems ,2004,24(5 ) :78 - 82.
  • 6QUIGLEY M, GERKEY B, CONLEY K, et al. ROS: An Open-source Robot Operating System [ C]// Proc Open- Source Software workshop of the International Conference on Robotics and Automation (ICRA) ,2009.
  • 7LOFFLER Markus S, COSTESCU Nicolae P, DAWSON Darren M. QMotor3.0 and the QMotor Robotic Toolkit : A PC-Based Control Platform [ J ]. IEEE Control Systems, 2002,22 ( 3 ) : 12 - 26.
  • 8MAAB Jochen, KOHN Nnamdi, HESSELBACH Jurgen. Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism [ J ]. International Jour- nal of' Advanced Robotic Systems ,2006,3 ( 1 ) :1 - 10.
  • 9NARASIMHAN S, SIEGEL D, HOLI,ERBACH J M ,et al. hnplementation of Control Methodologies on Computation Architecture for the Utah/ MIT Hand[ C ]// IEEE Inter- national Conference o,1 Robotics and Automation, 1986: 1884 - 1889.
  • 10KIM J J. Computer Architecture and l,ow Level Control of the PUMA/RAL Hand System: Work in Progress [ C ]// IEEE International Conference on Robotics and Automa- tion, 1987 : 1590 - 1594.

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Journal of Zhejiang University-Science A(Applied Physics & Engineering)
2007年 第12期

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