Using Low-Cost Open Source Hardware To Control Puma560 Motors. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Reguera, P.; Alonso, S.; Domínguez, M.; Prada, M.A.; Morán, A.; Fuertes, J.J.
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 9180
• Page End: 9185
• Publication Date: 2017-07
• Subjects: Control Education -- Instrumentation Education -- Interconnection Technologies -- Remote Laboratory -- Raspberry Pi -- Data Acquisition; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1270
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we present a low-cost approach to upgrade an outdated PUMA (Programmable Universal Machine for Assembly) 560 robot in order to widen the number and type of possible hands-on experiments in control and instrumentation education. Another aim of the upgrade is to enable its future connection to a remote laboratory. We propose a scalable structure to control and monitoring PUMA560 motors. This approach combines several different technologies: A Raspberry Pi for control and monitoring, Python to control the system and chart data, as well as converters and drivers with serial I2C bus interface connectivity to read/write data from/to Puma560 robot. The ideas here explained could be applicable to other physical systems with similar characteristics and number of variables.