First Steps Towards an Open Control Architecture for a PUMA 560
نویسندگان
چکیده
In this paper, progress efforts towards an open control architecture for a PUMA 560 manipulator are described. The original UNIMATE architecture was modified to allow direct control, trajectory planning, task planning and external sensors handling by a network of dedicated personal computers. Meanwhile the new platform was tested by the implementation of one-PD-per-joint and computed torque controllers. The first steps towards the new architecture and the results obtained with the controllers are presented in the paper.
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