Implementation of a PC based controller for a PUMA robot (original) (raw)

International Conference on Mechatronics and Machine Vision in Practice, 1997

Abstract

The paper describes the replacement of the controller for a PUMA 512 robot with a newly designed PC based controller employing real-time direct control of the six articulated joints. The original mechanical structure of the PUMA 512 has been retained. The control software has been implemented by user programs written in C and C++ programming languages. The hardware of the

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