Simulation and Control of a Puma Robot

This is an exercise in robot dynamics that will focus on simulation and control of a Puma robot.  The instructions and parameters needed for this exercise are in a downloadable file below.  A RoboWorks model of the robot has already been created.  An example motion data file is provided below .  Follow the instructions below to animate the data files.   

If you are an instructor and would like to obtain the Matlab code used to create the Data Files please contact Dr. Chetan Kapoor at Chetan@mail.utexas.edu.

Instructions:

1. RoboWorks must be installed on your computer if not go to Software for instructions.
2. Click on Puma Robot and download the RoboWorks file to your computer.  Please do not open the file from the web, but rather save it on your computer and then open it in RoboWorks.
3. To rotate, pan or zoom the view of the 3D model hold down the right mouse button on the RoboWorks window and select 'Interactive Mode->Rotation, Translation, or Zooming' and then move the cursor.
4. Open the Assignment to get instructions and dimensions for the problem.
5. It is suggested that you use Matlab to create and run the control schemes but any application can be used to create the data file to run the simulation.
6. Important: New data files must contain the joint values in columns with the tag names 'J1', 'J2',..., 'J6' at the top of the columns.  Look at the provided data files for the correct format.
7. Once this data file has been created click on Animate, then From File.  Select the new data file you wish to run the simulation with. 
8. There is a link to a video that shows what the Puma in free fall should look like to compare with your results.