Retrofitting PUMA 762 Robot

Muhammad Fahmi, Miskon (2003) Retrofitting PUMA 762 Robot. Masters thesis, University of Newcastle Upon Tyne.

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This project deals with retrofitting the PUMA 762 robot. It was motivated by the need to facilitate the old robot with a high performance controller to support real-time requirements. In this report, the used of Galil DMC 2280 Optima series motion controller is proposed to achieve these objectives. The controller was connected first with the robot to replace VAL II controller. The old system was preserved to be use at any time but an alternative wiring connected the robot with the new controller. Several safety features was implemented first for machine protection and operator safety. Then the new system was tuned and evaluated to optimize its performance. Several programs was developed to solve the forward and inverse kinematic problem for the robot and also to provide several features of the robot functions like go to a predefined ready position. Last but not least, the host computer for the system uses real-time operating system (RTOS) and several considerations were taken in the programming aspect to make the real-time implementation feasible. Until this report is submitted, the PUMA 762 robot was successfully retrofitted to a stage that it can be manipulated using non real-time programming. Several works is yet to be done to establish the communication between the new controller with host computer that use RTOS and to take into account the realtime requirements.

Item Type: Thesis (Masters)
Uncontrolled Keywords: Robotics
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Library > Tesis > FKE
Depositing User: Nor Aini Md. Jali
Date Deposited: 14 Jul 2014 03:05
Last Modified: 28 May 2015 04:27
Statistic Details: View Download Statistic

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