In this paper we present two different, software and reconfigurable hardware,\nopen architecture approaches to the PUMA 560 robot controller implementation, fully document them\nand provide the full design specification, software code and hardware description. Such solutions are\nnecessary in todayâ??s robotics and industry: deprecated old control units render robotic installations\nuseless and allow no upgrades, advancements, or innovation in an inherently innovative ecosystem.\nFor the sake of simplicity, just the first robot axis is considered. The first approach described is a PC\nsolution with data acquisition I/O board (Humusoft MF634). This board is supported with Matlab\nReal-TimeWindows Toolbox for real-time applications and thus whole controller was designed in\nMatlab environment. The second approach is a robot controller developed on field programmable\ngate arrays (FPGA) board. The complexity of FPGA design can be overcome by using a third party\nsoftware package, such as self-developed Matlab FPGA Real Time Toolbox. In both cases, parameters\nof motion controller are calculated by using simulation of the PUMA 560 robot first axis motion.\nSimulations were conducted in Matlab/Simulink using Robotics Toolbox.
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