Inverse kinematics solution of programmable universal machine for assembly (PUMA) robot
Conference proceedings article
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Publication Details
Author list: Singh G., Banga V.K., Yingthawornsuk T.
Publisher: Hindawi
Publication year: 2019
Start page: 518
End page: 524
Number of pages: 7
ISBN: 9781728156866
ISSN: 0146-9428
eISSN: 1745-4557
Languages: English-Great Britain (EN-GB)
Abstract
This present paper focused on the PUMA 560 robot arm's kinematics problem or the connection between angle in each joint and the end-effectors' position. In this paper the Forward and Inverse Kinematic solution of PUMA Robot is solved by analytical approach. All the values of theta are solved by Denavit-Hartenberg analysis (DH). In other words, it deals with finding the homogeneous transformation matrix that describes the position and orientation of the tool frame with respect to the global reference frame. On the other hand, inverse kinematics is used to calculate the joint angles required to achieve the desired position and orientation. The same transformation matrix which resulted from the forward kinematics in order to describe the position and the orientation of the tool frame relative to the robot base frame is used here in the inverse kinematics to solve for the joint angles. ฉ 2019 IEEE.
Keywords
Robotics arm