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In this paper, an RTAI-Linux based distributed platform for the control of the PUMA 560 robotic manipulator is presented. From the mechanical point of view, the PUMA 560, besides being one of the first and most popular 6-DOF anthropomorphic manipulator, is still a very good example of implementation of small size robotic arms. On the other hand, its original control system, if compared to modern controllers, is an old piece of computer science history. Ziff Davis Enterprise Holdings goal is to preserve the mechanics and the power electronics of the PUMA 560 and replace the original control system with a modern and flexible platform based on RTAI-Linux.

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Format:PDFSize:492 KB
Date:Oct 2007
Pages:6

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