Two Open Solutions for Industrial Robot Control: The Case of PUMA 560
Abstract
:1. Introduction
2. Materials and Methods
2.1. Simulation of the PUMA 560 First Robot Axis
2.2. Control Scheme Using PC
2.3. Control Scheme Using FPGA
3. Results
4. Discussion and Conclusions
Supplementary Materials
Author Contributions
Funding
Conflicts of Interest
References
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Joint | Parameter | Value |
---|---|---|
1st joint | Gear ratio Kr | 62.61 |
Encoder | 1000 imp/rev | |
Accuracy | 0.101 mrad | |
Length in Home position | 0.43 m | |
- | Jm,1 | 2 × 10−4 kgm2 |
Bm,1 | 6.3 Nms/rad | |
Ra,1 | 2.1 Ω | |
Km,1 | 0.223 Nm/A | |
r1 | 62.61 | |
Kb,1 | 0.26 V/rads | |
Kp | 260 | |
Kd | 80 | |
All joints | PUMA 560 mass | 54.5 kg |
Workspace | 320° |
Features (Low, Medium, High) | Type of Controller | |
---|---|---|
PC-Based | FPGA-Based | |
Reliability | Low | High |
Vulnerable on virus | High | Low |
Skills | Low | High (Expert) |
Industrial oriented | Low | High |
Educational oriented | High | Low |
Tuning parameters | High | Medium |
Price of hardware | Medium | Low |
Price of software | High | Low |
Possibility of generating an ASIC deisgn | Low | High |
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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
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 StyleJokić, 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
APA StyleJokić, D., Lubura, S., Rajs, V., Bodić, M., & Šiljak, H. (2020). Two Open Solutions for Industrial Robot Control: The Case of PUMA 560. Electronics, 9(6), 972. https://doi.org/10.3390/electronics9060972