Puma 560 Robot Manipulator

This paper focuses on two main areas namely robot manipulator analysis and implementation and design analyzed and implement.

Puma 560 robot manipulator. Unimation puma 560 serially links robot manipulator was u sed as a basis because this rob ot manipulator i s widely used in industry and academic. The unimation puma 560 serially links robot manipulator was used as a basis because this robot manipulator is widely used in industry and academic. Figure 1 d h model. In the case of the puma 560 a gearing arrangement in the wrist of the robot manipulator couples together the motions of joints 4 5 and 6.

This paper describes the matlab simulink realization of the puma 560 robot manipulator position control methodology. This paper describes the matlab simulink realization of the puma 560 robot manipulator position control methodology. Here we adopt the scheme and parameters of b. These simulation models are.

Puma 560 manipulator with the last 3 joints neglected. A detailed description of the puma 560 and its kinematics is given in. Puma 560 is widely used in academic and industrial application and has been modeled with several d h schemes with slightly different measured parameters 1. This implies that a distinction must be made for these three joints between joint space and cartesian space and the kinematics have to be solved in two steps.

1 puma 560 manipulator. The puma programmable universal machine for assembly or programmable universal manipulation arm is an industrial robotic arm developed by victor scheinman at pioneering robot company unimation initially developed for general motors the puma was based on earlier designs scheinman invented while at stanford university. Unimate puma 500 series robot manipulator simulated with the webots robot simulator. This paper focuses on design analyzed and implements nonlinear computed torque control ctc methods.

Forward kinematics fk was nothing more than a trivial case of constructing a denavit hartenberg d h transformation matrix with puma s parameters obtained from a d h parameter table fig. It has a n onlinear and uncertain dynamic. Unimation produced pumas for years until being purchased by westinghouse.