文档介绍：------------------------------------------------------------------------------------------------ ——————————————————————————————————————六自由度 PUMA 机器人运动仿真六自由度 PUMA 机器人的运动仿真罗天洪 1 ,马力2( 1. 重庆交通大学机电与汽车工程学院,重庆 400074 ; 2. 重庆交通大学机电与汽车工程学院,重庆 400074 ) 摘要:针对六自由度 PUMA 机器人,分析了它的正运动学、逆运动学和轨迹规划问题, 并在 MATLAB 环境下, 利用 Robotics Toolbox 对该机器人进行了建模。同时仿真了正运动学和逆运动学求解和轨迹规划,并观察各关节运动, 得到所需的数据。说明了所设计的参数是正确的, 从而满足预定的目标。关键词: PUMA 机器人运动学 MATLAB 机器人工具箱仿真 The PUMA560 robot kinematics simulation and trajectory planning based on MATLAB LUO tian-hong1 , MA LI2 ( of Mechanical-electronic and Automobile Engineering , Chongqing Jiaotong University , Chongqing 400074 ,C hina; of Mechanical-electronic and Automobile Engineering , Chongqing Jiaotong University , Chongqing 400074 , China) Abstract:According to the analysis of PUMA560 robot, kinematics, inverse kinematics and trajectory planning problems, and in the M ATLAB ------------------------------------------------------------------------------------------------ —————————————————————————————————————— environment, the modeling of the robot based on Robotics Toolbox. At the same time the simulation of kinematics and inverse kinematics and trajectory planning, and to observe the movement of each joint, to obtain the required data. The parameters design is correct, in order to meet the target. Key words: PUMA560 robots Kinematics MATLAB Robotics To