Control of PUMA mark II robot with an external computer

Dindaroglu, M. Serdar
In this research, software and hardware system is developed in order to control the PUMA 760 robot via a supervisory computer. In order to develop such a system, the characteristics of the PUMA robot are first studied in detail and then the capacity to integrate the available system with a supervisory computer, and all possible methods for this integration areinvestigated. Among these methods, the appropriate ones are chosen and they are integrated to the software by means of constructing the required protocols. Now, with the aid of the coded software, it is possible to command the robot with the recent programming languages and hence to develop further practical application software for the robot. In order to demonstrate the functional capability of the control software which supervises the motion of the robot, a control algorithm is designed on the network structure constituted. An infrared transmitter-receiver system is designed and integrated on the PUMA robot as a sample model demonstrating the integrability capacity of the developed system to the external instruments. Using the information received from this sensor system, the supervisory computer performs the target tracking operation by controlling the robot via the network formed.


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Mobile robot control is receiving considerably more attention in current robotics research. Especially unmanned vehicles are used in important missions such as bomb disposal, patrolling borders of a country by unmanned aerial vehicles (UAVs), etc. This usage increases the importance of unmanned vehicles and they become a target of malevolent people. In this study, a controllable robot system is designed with a secure communication protocol. A Pioneer P3-DX robot is used as a ground vehicle. The robot operat...
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Bilaloğlu, Cem; Turgut, Ali Emre; Şahin, Erol; Department of Mechanical Engineering (2022-1-13)
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External control of PUMA 700 series robot based on the communication protocols LUN and DDCMP
Gebizlioğlu, Önder Emin; Ersak, Aydın; Department of Electrical and Electronics Engineering (2003)
This thesis analyzes the supervisory control of the PUMA 700 series robot through a remote computer. Supervisory communication carries the control through MARK II controller, common controller for the PUMA robots, to a standard PC, enabling the development of purpose specific control programming without the knowledge of the VAL (Variable Assembly Language), robot-programming language. Using the supervisory communication feature of PUMA, new control software has been developed in which both VAL commands and ...
Citation Formats
M. S. Dindaroglu, “Control of PUMA mark II robot with an external computer,” M.S. - Master of Science, Middle East Technical University, 2002.