基于PC的PUMA机器人控制器的实现

Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI:10.1109/MMVIP.1997.625229

J. Katupitiya, R. Radajewski, J. Sanderson, M. Tordon

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引用次数: 8

摘要

本文介绍了将PUMA 512机器人的控制器替换为一种基于PC机的控制器，采用实时直接控制六个关节。PUMA 512原有的机械结构被保留了下来。控制软件用C和c++编程语言编写用户程序实现。新控制器的硬件包括:自主设计的PWM放大器;PC接口卡;还有一个看门狗计时器。系统使用两个PC接口卡，每个接口卡提供:两个24位和一个16位正交计数器;12位模数转换器;一个计时器;和数字输入/输出。一台基于Intel 486 DX2-66的计算机被用作中央控制器。最后给出了系统性能的初步结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Implementation of a PC based controller for a PUMA robot

The paper describes the replacement of the controller for a PUMA 512 robot with a newly designed PC based controller employing real-time direct control of the six articulated joints. The original mechanical structure of the PUMA 512 has been retained. The control software has been implemented by user programs written in C and C++ programming languages. The hardware of the new controller includes in-house designed: PWM amplifiers; PC interface cards; and a watchdog timer. The system uses two PC interface cards, each providing: two 24 bit and one 16 bit quadrature counters; a 12 bit analog to digital converter; a timer; and digital input/output. An Intel 486 DX2-66 based computer is used as the central controller. Preliminary results of the system performance are included.

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Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice

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