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1、The movement simulation and trajectory planning of PUMA560 robot Shibo zhao Abstract: In this essay, we adopt modeling method to study PUMA560 robot in the use of Robotics Toolbox based on MATLAB. We mainly focus on three problems include: the forward kinematics, inverse kinematics and trajectory pl
2、anning. At the same time, we simulate each problem above, observe the movement of each joint and explain the reason for the selection of some parameters. Finally, we verify the feasibility of the modeling method.Key words: PUMA560 robot; kinematics; Robotics Toolbox; The simulation; I.IntroductionAs
3、 automation becomes more prevalent in peoples life, robot begins more further to change peoples world. Therefore, we are obliged to study the mechanism of robot. How to move, how to determine the position of target and the robot itself, and how to determine the angles of each point needed to obtain
4、the position. In order to study robot more validly, we adopt robot simulation and object-oriented method to simulate the robot kinematic characteristics. We help researchers understand the configuration and limit of the robots working space and reveal the mechanism of reasonable movement and control
5、 algorithm. We can let the user to see the effect of the design, and timely find out the shortcomings and the insufficiency, which help us avoid the accident and unnecessary losses on operating entity. This paper establishes a model for Robot PUMA560 by using Robotics Toolbox, and study the forward
6、kinematics and inverse kinematics of the robot and trajectory planning problem. II.The introduction of the parameters for the PUMA560 robotPUMA560 robot is produced by Unimation Company and is defined as 6 degrees of freedom robot. It consists 6 degrees of freedom rotary joints (The structure diagra
7、m is shown in figure 1). Referring to the human body structure, the first joint（J1） called waist joints. The second joint（J2）called shoulder joint. The third joint （J3）called elbow joints. The joints J4 J5, J6, are called wrist joints. Where, the first three joints determine the position of wrist re
8、ference point. The latter three joints determine the orientation of the wrist. The axis of the joint J1 located vertical direction. The axis direction of joint J2, J3 is horizontal and parallel, a3 meters apart. Joint J1, J2 axis are vertical intersection and joint J3, J4 axis are vertical crisscros
9、s, distance of a4. The latter three joints axes have an intersection point which is also origin point for 4, 5, 6 coordinate. (Each link coordinate system is shown in figure 2)Fig1 the structure of puma560 Fig2 the links coordinate of puma 560 When PUMA560 Robot is in the initial state, the correspo
10、nding link parameters are showed in table 1. The expression of parameters:Let length of the bar represent the distance between and along.Torsion angle denote the angle revolving from to.The measuring distance between and along is. Joint angle is the angle revolving from to along.Table 1 the paramete
11、rs of puma560 link Range100900-1601602-90000.1491-22545300.4318-900-452254-90-0.021300.4331-110170590000-1001006-90000-266266III.The movement analysis of Puma560 robot3.1 Forward kinematicDefinition: Forward kinematics problem is to solve the pose of end-effecter coordinate relative to the base coor
12、dinate when given the geometric parameters of link and the translation of joint. Let make things clearly: What you are given: the length of each link and the angle of each jointWhat you can find: the position of any point (i.e. its coordinate)3.2 The solution of forward kinematicsMethod: Algebraic s
13、olution Principal: The kinematic model of a robot can be written like this, where denotes the vector of joint variable, denotes the vector of task variable,is the direct kinematic function that can be derived for any robot structure . The origin of Each joint is assigned a coordinate frame. Using th
14、e Denavit-Hartenberg notation, you need 4 parameters () to describe how a frame () relates to a previous frame (). For two frames positioned in space, the first can be moved into coincidence with the second by a sequence of 4 operations:1. Rotate around the axis by an angle.2. Translate along the ax
15、is by a distance.3. Rotate around the new z axis by an angle.4. Translate along the new z axis by a distance. (1.1) (1.2) Therefore, according to the theory above the final homogeneous transform corresponding to the last link of the manipulator: (1.3) 3.3Inverse kinematicDefinition: Robot inverse kinematics problem is that re
