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Received: 2007-06-13

Revision Accepted: 2007-08-20

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Journal of Zhejiang University SCIENCE A 2007 Vol.8 No.12 P.1962~1970

http://doi.org/10.1631/jzus.2007.A1962


Implementation of a new PC based controller for a PUMA robot


Author(s):  FAROOQ M., WANG Dao-bo

Affiliation(s):  College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Corresponding email(s):   muh_farooq1974@yahoo.com

Key Words:  Programmable universal machine for assembly (PUMA) robot, Computed torque control (CTC), Pulse width modulation (PWM) amplifier, Graphical user interface (GUI)


FAROOQ M., WANG Dao-bo. Implementation of a new PC based controller for a PUMA robot[J]. Journal of Zhejiang University Science A, 2007, 8(12): 1962~1970.

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Abstract: 
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.

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Reference

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[3] Corke, P.I., 1993. Operational Details of the Unimation Puma Servo System. Report, CSIRO Division of Manufacturing Technology. Australia.

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[5] 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.

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[8] Maciejowski, J.M., 2002. Predictive Control with Constraints (1st Ed.). Prentice Hall.

[9] Miller, D.J., Lenox, R.C., 1991. An object oriented environment for robot system architecture. IEEE Control System Magazine, 11(2):14-23.

[10] 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.

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[12] Unimation Robotics. 1983. User’s Guide to VAL 398P2A: A Robot Programming and Control System. Unimation Inc., Danbury, Connecticut, USA.

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