Document Type
Thesis
College
College of Engineering
Department
Electrical and Computer Engineering
Degree
MSE in Electrical Engineering
Date Completed
2018
First Committee Member
Magotra, Neeraj
Second Committee Member
N/A
Third Committee Member
N/A
Abstract
"This thesis presents the design of a PUMA 200 robot arm control system using National Instruments myRIO controller. The work described in this thesis dealt with the electronic redesign and implementation of the PUMA 200's motor drivers, as well as the redesign and implementation of all control algorithms and software to restore its operational functionality without changing its mechanical elements. The myRIO is an extremely powerful development platform and the Field Programmable Gate Array (FPGA) it uses has an ARM Central Processing Unit (CPU) integrated as well. The program development utilized the CPU for the programmable control functions and the FPGA to handle special programmable hardware requirements to implement the complete control system. The main program, which executes on the ARM CPU, has three critical functions to enable proper articulation of the robot arm. These functions are 1. Reset 2. Teach 3. Track The reset function moves the robot to a predefined nest (rest) position. Since the robot is not equipped with potentiometers, it does not have any information about the current position after each fresh start. Hence a reset function is necessary to move the robot to a predefined position so it recognizes the current position. The teach function provides the capability of teaching the robot to follow a user defined path. This function releases the robot's brake system so the user can move it freely and the main program records the path. The track function commands the robot to follow the predefined path. The path is created using the teach method or by means of manual calculations. All of these functions were implemented and tested successfully."
Recommended Citation
Ganesan, Aravinth Kumar, "PUMA 200 articulating robot arm rehabilitation" (2018). Master’s Theses - College of Engineering. 3.
https://digitalcommons.law.wne.edu/coetheses/3