I have an old Puma560 industrial robot. The arm is good and includes 6x 48v dc motors each with a logic level optical encoder. The original controller is well and truly dead but I’d like to get the arm up and running again using a new control system. A quick glance at the Pololu products suggests that there may be some scope to do that. Problems I face are:
The 3 lower joints are 750W and draw considerable current and create current from the inertia of the arm (it’s pretty heavy) when it’s slowing down.
I need to control all 6 axis at the same time in co-ordinated motion. This needs inverse kinematics to work out the speed and direction of each motor at a given time.
My programming skills are very basic so I need help!
Any ideas welcome