External control of PUMA 700 series robot based on the communication protocols LUN and DDCMP

Download

index.pdf

Date

2003

Author

Gebizlioğlu, Önder Emin

Metadata

Show full item record

Item Usage Stats

121
views

0
downloads

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 interactive control commands can be executed simultaneously. The supervisory communication with the control software enables exploitation of third party applications and additional operating system features. The supervisory communication uses the Digital Data Communications Message Protocol (DDCMP). The frame structure of data messages, which is specific to PUMA robots, is fitted into this protocol. The messages embedded into DCMP are actually logical units, having different abilities and features. Data messages are formed with the interactive control software according to execution requests of the user. This thesis explains the implementation of the communication without using the CRC (Cyclic Redundancy Checking) on the remote computer side and the data messages formed with the interactive control software, which also enables the use of sensory inputs (camera, infrared, sound, color information) to be used for the robot motion control.

Subject Keywords

Digital communications, Robotics

URI

http://etd.lib.metu.edu.tr/upload/2/1219294/index.pdf
https://hdl.handle.net/11511/13837

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Intelligent gait control of a multilegged robot used in rescue operations Karalarlı, Emre; Erkmen, Aydan Müşerref; Erkmen, İsmet; Department of Electrical and Electronics Engineering (2003) In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting t...
Development of man machine interface software for an industrial robot Konukseven, Erhan İlhan (2004-07-14) This paper describes the design and implementation of a man machine interface software for the ABB IRB-2000 industrial robot. The main aim of this software is to provide features which would facilitate on-line/off-line programming of the robot. The software would provide a three dimensional graphical simulation of the robot and its environment, which also allows loading custom designed objects into the simulated environment. The software also offers collision detection capability between graphically simulat...
Control of PUMA mark II robot with an external computer Dindaroglu, M. Serdar; Kocaoğlan, Erol; Department of Electrical and Electronics Engineering (2002) 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 proto...
Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm Bulut, Nebi; Turgut, Ali; Aríkan, Kutluk (SCITEPRESS, AV D MANUELL, 27A 2 ESQ, SETUBAL, 2910-595, PORTUGAL; 2019) This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. The kinematic and dynamic model of the system is obtained by modeling the quadrotor and the robotic arm as a unified system. Then, the equation of motion of the unified system is got in the form of a standard robot dynamics equation. For the trajectory control of the system, computed torque control is used. Gains of the controller are optimized by using nonli...
Decoupled Cascaded PID Control of an Aerial Manipulation System Bulut, Nebi; Turgut, Ali Emre; Arıkan, Kutluk Bilge (2019-12-01) This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm. Firstly, the kinematic model of the combined system and the Denavit-Hartenberg parameters of the serial robotic arm are obtained. Then, to derive the dynamics of the system, the quadrotor and the 2-DOF robotic arm are modeled as a combined system. The Lagrange-d'Alembert formulation is used to obtain the equation of motion of the combined system. Later, decoupled controllers are developed for the gener...

Citation Formats

Ö. E. Gebizlioğlu, “External control of PUMA 700 series robot based on the communication protocols LUN and DDCMP,” M.S. - Master of Science, Middle East Technical University, 2003.