Cascade Control of the PUMA 560 Motors using Simulink and Arduino

D. Blanco; S. Alonso; M. Domínguez

Cascade Control of the PUMA 560 Motors using Simulink and Arduino

D. Blanco, S. Alonso, M. Domínguez

Not published at Aalto University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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	https://www.car.upm-csic.es/events/robocity16/

Keywords

robotics control
cascade control
Arduino

Access to Document

https://www.car.upm-csic.es/wp-content/uploads/2016/03/Proceedings_RoboCity16_web_version_02.pdf

Cite this

@inproceedings{e266631d4d9c4b40ac2da5e62c68773b,

title = "Cascade Control of the PUMA 560 Motors using Simulink and Arduino",

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.",

keywords = "robotics control, cascade control, Arduino",

author = "D. Blanco and S. Alonso and M. Dom{\'i}nguez",

year = "2016",

language = "English",

volume = "1",

pages = "349--356",

editor = "Fernandez, {Roemi E.} and Hector Montes",

booktitle = "Robocity16 Open Conference on Future Trends in Robotics",

note = "Open Conference on Future Trends in Robotics, RoboCity ; Conference date: 26-05-2016 Through 27-05-2016",

url = "https://www.car.upm-csic.es/events/robocity16/",

}

Blanco, D, Alonso, S & Domínguez, M 2016, Cascade Control of the PUMA 560 Motors using Simulink and Arduino. in RE Fernandez & H Montes (eds), Robocity16 Open Conference on Future Trends in Robotics. vol. 1, pp. 349-356, Open Conference on Future Trends in Robotics, Madrid, Spain, 26/05/2016. <https://www.car.upm-csic.es/wp-content/uploads/2016/03/Proceedings_RoboCity16_web_version_02.pdf>

TY - GEN

T1 - Cascade Control of the PUMA 560 Motors using Simulink and Arduino

AU - Blanco, D.

AU - Alonso, S.

AU - Domínguez, M.

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

KW - robotics control

KW - cascade control

KW - Arduino

M3 - Conference contribution

VL - 1

SP - 349

EP - 356

BT - Robocity16 Open Conference on Future Trends in Robotics

A2 - Fernandez, Roemi E.

A2 - Montes, Hector

T2 - Open Conference on Future Trends in Robotics

Y2 - 26 May 2016 through 27 May 2016

ER -

Cascade Control of the PUMA 560 Motors using Simulink and Arduino

Abstract

Conference

Keywords

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