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.
Original language | English |
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Pages (from-to) | 78-82 |
Journal | IEEE Control Systems Magazine |
Volume | 24 |
Issue number | 5 |
DOIs | |
Publication status | Published - Oct 2004 |