PUMA 560机器人运动任务的三维仿真环境

CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers Pub Date : 2011-04-11 DOI:10.1109/CONIELECOMP.2011.5749371

Antonio Benítez, Ignacio Huitzil, Azgad Casiano-Ramos, M. A. M. Nieto, J. D. L. Calleja

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引用次数: 4

摘要

具有关节形态的机器人具有重要意义，因为它代表了扩展到高度关节链的基本应用。因此，本文重点介绍了如何操纵六自由度运动链，特别是与PUMA 560机器人相关的模型。描述了运动学正解和运动学逆解的计算方法。此外，还提出了一个三维空间仿真平台，作为验证机器人编程运动的重要工具。给出了逆运动学应用的有趣结果。

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A 3D simulation environment for kinematic task of the PUMA 560 robot

Robots with articulated morphology has acquired major importance because of representing la basic application to scale to highly articulated chains. Hence, this paper is focus to present how manipulate kinematic chains with six degrees of freedom, in particular way the model associated to PUMA 560 robot. Techniques to compute forward and inverse kinematic are described. Besides, a platform to simulate on three dimension space is presented as a important tool to verify the movements programmed on the robot. Interesting results from inverse kinematic applications are shown.

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来源期刊

CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers

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