Hardware retrofit and computed torque control of a PUMA 560 robot

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

doi:10.1109/MCS.2004.1337867

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 journal › Article › peer-review

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
Pages (from-to)	78-82
Journal	IEEE Control Systems Magazine
Volume	24
Issue number	5
DOIs	https://doi.org/10.1109/MCS.2004.1337867
Publication status	Published - Oct 2004

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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.",

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AB - 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.

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JO - IEEE Control Systems Magazine

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Hardware retrofit and computed torque control of a PUMA 560 robot

Abstract

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