PUMA-760 robot arm has six joints, giving six degrees of freedom. In this thesis the wrist(joint 4,5,6) servo-controller of PUMA-760 robot is analyzed. A mathematical model of the arm and controller for PUMA-760 wrist servo system is presented. This model is based on the analysis of printed circuit boards (PCB) and shows that the PUMA-760 controller is basically composed of a proportional-integral-derivative(PID) controller plus a transconductance amplifier. System parameters for the controller and the arm are evaluated by means of the circuit analysis of the PCB, experiments and hardware measurements etc.
The performance test for joint 6 is performed for the velocity (inner) loop and the position (outer) loop. The time response of the velocity loop to step input and the position loop to VAL position command are measured and discussed.
Finally, the state equations are derived and the simulated performances of both the inner loop and the outer loop are evaluated. Comparisons are made between the performances of the simulation model and those of the actual robot system.
