DocumentCode
1826105
Title
Integration of the robotic arm control system
Author
Wu, J. ; Chandadai, S. ; Anderson, J.N.
Author_Institution
Center for Manuf. Res., Tennessee Technol. Univ., Cookeville, TN, USA
fYear
1994
fDate
20-22 Mar 1994
Firstpage
611
Lastpage
617
Abstract
The robotic arm control system (RACS) replaces the servo-level controller of the factory-supplied VAL controller (used with the PUMA 562 robot) for the purpose of implementing and testing advanced robot control algorithms. High-level operations can be performed either by RACS or by the VAL controller´s host-level processor. Major aspects of the RACS integration effort are described including hardware modifications, arm calibration processes and routines, firmware for the VAL controller interface and the RACS system software. Effectiveness and operation of RACS are demonstrated by implementation of the PD control algorithm
Keywords
calibration; computerised control; firmware; robots; two-term control; PD control algorithm; PUMA 562; VAL controller interface; arm calibration; firmware; robotic arm control system; routines; system software; Calibration; Control systems; Hardware; Microprogramming; PD control; Process control; Pulse amplifiers; Robot control; Servomechanisms; System testing;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, 1994., Proceedings of the 26th Southeastern Symposium on
Conference_Location
Athens, OH
ISSN
0094-2898
Print_ISBN
0-8186-5320-5
Type
conf
DOI
10.1109/SSST.1994.287804
Filename
287804
Link To Document