I/ Introduction to the Project.

    1) The roots of our project.

    2) The equipment.

      2.1) General presentation of the PUMA robot.

      2.2) Technical specifications.

      2.3) PUMA robot field of use.

    3) Presentation of the project.

      3.1) The compliance.

      3.2) The aim of our final year project.

      3.3) Industrial applications.

II/ The Project.

    1) Restoring of the robot.

      1.1) Replacement of the terminal: Serial link between the robot controller and a PC.

      1.2) Replacement of the gripper command air solenoid valve.

    2) System and components choice.

      2.1) Measure system.

            2.1.1) The transducer.
            a) Our choice.
            b) ATI’s sensor.

            2.1.2) The controller.
            a) Our choice.
            b) ISA F/T Controller.

        2.1.3) Measure system price.

        2.2) Programming languages and software.

        2.2.1) Real-time path control and alter mode.

        2.2.2) Why using the external alter mode?

        2.2.3) The programming language: JAVA.

        2.2.4) Java development environment : Microsoft’s Visual J++.

    3) Adaptation of the sensor system.

      3.1) Sensor-robot.

      3.2) Control card/software–PC.

      3.3) PC-Robot controller (alter mode).

    4) Programming.

      4.1) Virtual links.

      4.2) The programs.

        4.2.1) The ActiveX test program.

        4.2.2) The different possible programs.

    5) Future outlook.

III/ Conclusion.
 

IMPORTANT: TO THE STUDENTS WHO ARE GOING TO CONTINUATE OUR PROJECT:
Click here to download a Word 97 file presenting the directions to use the PUMA robot.....