Cascade Control of the PUMA 560 Motors using Simulink and Arduino

D. Blanco, S. Alonso, M. Domínguez

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review


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 languageEnglish
Title of host publicationRobocity16 Open Conference on Future Trends in Robotics
EditorsRoemi E. Fernandez, Hector Montes
ISBN (Electronic)978-84-608-8452-1
Publication statusPublished - 2016
MoE publication typeA4 Conference publication
EventOpen Conference on Future Trends in Robotics - Madrid, Spain
Duration: 26 May 201627 May 2016


ConferenceOpen Conference on Future Trends in Robotics
Abbreviated titleRoboCity
Internet address


  • robotics control
  • cascade control
  • Arduino


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