A Simulink-based robotic toolkit for simulation and control of the PUMA 560 robot manipulator

Author

Dixon, W.E. ; Moses, D. ; Walker, I.D. ; Dawson, D.M.

Author_Institution

Oak Ridge Nat. Lab., TN, USA

Volume

4

fYear

2001

fDate

2001

Firstpage

2202

Abstract

A Simulink robotic toolkit (SRTK) for the Puma 560 robot manipulator is developed on the MATLAB/Simulink-based platform. Through the use of the real-time Linux target and the real-time Windows target, the SRTK can be executed on the Linux or Win32-based operating systems in real-time. Moreover, the graphical user-friendly nature of Simulink allows the SRTK to be a flexible tool that can easily be customized to fit the specific needs of the user, that is, based on the layered approach of the SRTK, the user can perform operations such as calibration, joint control, Cartesian control, Cartesian PD control, impedance control, some trajectory generation tasks, and real-time simulation of the Puma 560 through a user-friendly MATLAB-based graphical user interface without writing any code. The SRTK allows a researcher to use the Puma 560 without the burden of the external issues related to the control, interface, and software issues, while providing for the flexibility for easily modifying components for increased functionality

Keywords

control system CAD; control system analysis computing; digital simulation; graphical user interfaces; manipulators; real-time systems; Cartesian PD control; MATLAB; PUMA 560; Robotic Toolkit; Simulink; blender mode; external mode; functionality; graphical user interface; impedance control; real-time Linux target; real-time Windows target; real-time simulation; robot manipulator; Calibration; Computer languages; Impedance; Linux; MATLAB; Manipulators; Operating systems; PD control; Real time systems; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976397

Filename

976397