Real time modified programmable universal machine for assembly (PUMA) 560 with intelligent controller
Yousif Al Mashhadany, Wesam M. Jasim
Abstract
<p>In this work, the design of an integrated industrial application for use on a<br />modified PUMA 560 robot arm was presented. The modified PUMA 560 robot<br />has three joints; two of them are free-moving and the third one is at constant 90-<br />degree angle. It has three links and two extra Griper links. Each joint was<br />controlled via a DC motor through a PIC microcontroller. The design and<br />implementation of modified PUMA 560 with electronic circuits to derive the<br />motor were used with the robot and the working platform. These electronic<br />circuits were also used to interface with the computer to control the DC motor<br />based on the computer orders. The control signals used to control the<br />application control system and to perform the defined tasks were received from<br />a remote computer connected via internet. This design has been implemented in<br />two phases; the first phase was the simulation of the complete control system,<br />while, the second phase was the practical implementation. The obtained results<br />were ensured the ability of the proposed system to perform the tasks of many<br />industrial applications.</p>