Cascade Control of the PUMA 560 Motors using Simulink and Arduino

D. Blanco, S. Alonso, M. Domínguez

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference contributionScientificvertaisarvioitu

Abstrakti

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.
AlkuperäiskieliEnglanti
OtsikkoRobocity16 Open Conference on Future Trends in Robotics
ToimittajatRoemi E. Fernandez, Hector Montes
Sivut349-356
Vuosikerta1
ISBN (elektroninen)978-84-608-8452-1
TilaJulkaistu - 2016
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisuussa
TapahtumaOpen Conference on Future Trends in Robotics - Madrid, Espanja
Kesto: 26 toukok. 201627 toukok. 2016
https://www.car.upm-csic.es/events/robocity16/

Conference

ConferenceOpen Conference on Future Trends in Robotics
LyhennettäRoboCity
Maa/AlueEspanja
KaupunkiMadrid
Ajanjakso26/05/201627/05/2016
www-osoite

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