Control of PUMA mark II robot with an external computer

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2002
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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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.