Abstract
In this paper, a low-cost rapid prototyping approach to control the PUMA 560 robot arm is presented. This approach is proposed as an educational tool in robotics and control field by presenting a torque, velocity and position cascade control architecture. Arduino was used as a Data Acquisition Server, reading the PUMA sensors and sending the signals to the motor drivers. Simulink was responsible for the main control system, computing all the data and communicating with Arduino for the proper robot control. The motor driver is in charge of delivering the corresponding current to the motors. In this paper, the control architecture is set up and tested for one motor, but it can be easily extended to the remaining motors of the robot.
| Original language | English |
|---|---|
| Title of host publication | Robocity16 Open Conference on Future Trends in Robotics |
| Editors | Roemi E. Fernandez, Hector Montes |
| Pages | 349-356 |
| Volume | 1 |
| ISBN (Electronic) | 978-84-608-8452-1 |
| Publication status | Published - 2016 |
| MoE publication type | A4 Article in a conference publication |
| Event | Open Conference on Future Trends in Robotics - Madrid, Spain Duration: 26 May 2016 → 27 May 2016 https://www.car.upm-csic.es/events/robocity16/ |
Conference
| Conference | Open Conference on Future Trends in Robotics |
|---|---|
| Abbreviated title | RoboCity |
| Country/Territory | Spain |
| City | Madrid |
| Period | 26/05/2016 → 27/05/2016 |
| Internet address |
Keywords
- robotics control
- cascade control
- Arduino