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Article

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

1
Department of Electrical and Electronics Engineering, International Burch University, 71000 Sarajevo, Bosnia and Herzegovina
2
Faculty of Electrical Engineering, University of East Sarajevo, 71123 East Sarajevo, Bosnia and Herzegovina
3
Department of Power, Electronic and Telecommunication Engineering, Faculty of Technical Sciences, University of Novi Sad, 21000 Novi Sad, Serbia
4
Connect Centre, Trinity College Dublin, Dublin, Ireland
*
Author to whom correspondence should be addressed.
Electronics 2020, 9(6), 972; https://doi.org/10.3390/electronics9060972
Received: 4 May 2020 / Revised: 30 May 2020 / Accepted: 3 June 2020 / Published: 11 June 2020
In this paper we present two different, software and reconfigurable hardware, open architecture approaches to the PUMA 560 robot controller implementation, fully document them and provide the full design specification, software code and hardware description. Such solutions are necessary in today’s robotics and industry: deprecated old control units render robotic installations useless and allow no upgrades, advancements, or innovation in an inherently innovative ecosystem. For the sake of simplicity, just the first robot axis is considered. The first approach described is a PC solution with data acquisition I/O board (Humusoft MF634). This board is supported with Matlab Real-Time Windows Toolbox for real-time applications and thus whole controller was designed in Matlab environment. The second approach is a robot controller developed on field programmable gate arrays (FPGA) board. The complexity of FPGA design can be overcome by using a third party software package, such as self-developed Matlab FPGA Real Time Toolbox. In both cases, parameters of motion controller are calculated by using simulation of the PUMA 560 robot first axis motion. Simulations were conducted in Matlab/Simulink using Robotics Toolbox. View Full-Text
Keywords: educational robots; MATLAB; robot control; robot programming; open platforms educational robots; MATLAB; robot control; robot programming; open platforms
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MDPI and ACS Style

Jokić, D.; Lubura, S.; Rajs, V.; Bodić, M.; Šiljak, H. Two Open Solutions for Industrial Robot Control: The Case of PUMA 560. Electronics 2020, 9, 972. https://doi.org/10.3390/electronics9060972

AMA Style

Jokić D, Lubura S, Rajs V, Bodić M, Šiljak H. Two Open Solutions for Industrial Robot Control: The Case of PUMA 560. Electronics. 2020; 9(6):972. https://doi.org/10.3390/electronics9060972

Chicago/Turabian Style

Jokić, Dejan, Slobodan Lubura, Vladimir Rajs, Milan Bodić, and Harun Šiljak. 2020. "Two Open Solutions for Industrial Robot Control: The Case of PUMA 560" Electronics 9, no. 6: 972. https://doi.org/10.3390/electronics9060972

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