Purdue University Mark

Purdue University

PUMA Robot Matlab/Servo To Go software

PUMA Robot Matlab/Servo To Go software


PUMA Software

We have developed a software suite for creating control algorithms in block diagram form in Simulink, generating real-time code using Real-Time Workshop, and running them in real-time under QNX to control a PUMA manipulator with the Servo To Go board and the Mark V Automation board.

RTLinux Drivers

Steve Goetz's RTLinux Report This explains what to download and how to use the software. It is useful for the QNX drivers below, too. (Also, See Rob Martin's web page on using the QNX/Matlab/Simulink software.)

Downloadable software files (see report above):

QNX Drivers

See Rob Martin's web page on using the QNX/Matlab/Simulink software.

Download the v1.0 drivers and docs now for Servo To Go.

README for Servo To Go is included in the zip file and explains the installation procedure. There is also code for Mark V Automation hardware and some other links can be found on my personal site.

Calibration code has yet to be ported, but will be ready shortly.

DOS Drivers

DOS is deterministic and can be reliably used as a real-time OS. We have complete DOS code for the PUMA that comes with its own non-preemptive scheduler, forward and inverse kinematics, calibration, trajectory generation, etc. This is based on code from a company and is posted with permission.

XR4000 with PUMA

XR4000 with PUMA

RWRCCL - Roger Williams University

RWRCCL is a port of John Lloyd's RCCL package to a single-CPU version by Matt Stein at Roger Williams University.

Matlab Robotics Toolbox - Peter Corke

Peter Corke's Robotic Toolbox provides a number of useful functions in Matlab and Simulink using quaternions and homogeneous transforms.


(C)2004,2005,2008,2016 Richard Voyles, all rights reserved.
The views expressed do not represent the views of the University or blah, blah, blah.

rvoyles [at] purdue [dot] edu

Purdue University, West Lafayette, IN 47907, (765) 494-4600