Two Open Solutions for Industrial Robot Control: The Case of PUMA 560

• DOI: 10.3390/electronics9060972
• Publication Date: 2020-06-12T09:02:24Z
• Authors: Dejan Jokić; Slobodan Lubura; Vladimir Rajs; Milan Bodić; Harun Šiljak
• Keywords: Toolbox

In this paper we present two different, software and reconfigurable hardware, open architecture approaches to the PUMA 560 robot controller implementation, fully document them provide full design specification, code hardware description. Such solutions are necessary in today’s robotics industry: deprecated old control units render robotic installations useless allow no upgrades, advancements, or innovation an inherently innovative ecosystem. For sake of simplicity, just first axis is considered. The approach described a PC solution with data acquisition I/O board (Humusoft MF634). This supported Matlab Real-Time Windows Toolbox for real-time applications thus whole was designed environment. second developed on field programmable gate arrays (FPGA) board. complexity FPGA can be overcome by using third party package, such as self-developed Real Time Toolbox. both cases, parameters motion calculated simulation motion. Simulations were conducted Matlab/Simulink Robotics