Hardware retrofit and computed torque control of a PUMA 560 robot

V. M. Becerra, C. N. J. Cage, W. S. Harwin, P. M. Sharkey

    Research output: Contribution to journalArticlepeer-review


    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 languageEnglish
    Pages (from-to)78-82
    JournalIEEE Control Systems Magazine
    Issue number5
    Publication statusPublished - Oct 2004


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