文档介绍:1/11
Themovementsimulationandtrajectoryplanningof
PUMA560robot
Shibozhao
Abstract:Inthisessay,weadoptmodelingmethodt
1/11
Themovementsimulationandtrajectoryplanningof
PUMA560robot
Shibozhao
Abstract:Inthisessay,:theforwardkinematics,,wesimulateeachproblemabove,,weverifythefeasibilityofthemodelingmethod.
Keywords:PUMA560robot;kinematics;RoboticsToolbox;Thesimulation;
Asautomationbeesmoreprevalentinpeople’slife,robotbeginsmorefurthertochangepeople’,,howtodeterminethepositionoftargetandtherobotitself,,weadoptrobotsimulationandobject-’,andtimelyfindouttheshortingsandtheinsufficiency,,andstudytheforwardkinematicsandinversekinematicsoftherobotandtrajectoryplanningproblem.
(Thestructurediagramisshowninfigure1).Referringtothehumanbodystructure,thefirstjoint〔J1〕〔J2〕〔J3〕,J6,,