An exact kinematic model of PUMA 600 manipulator
Abstract
An exact kinematic model of the Unimation PUMA 600 robotic manipulator is presented. Discrepancies found between the actual manipulator in laboratory tests and the first model presented are discussed. The link coordinate frames are redefined in order to introduce a new transformation for a tool frame. Modifications are made to previously published solution of the inverse kimetics and differential kinematics. The actual reference orientation frame of the manipulator is formulated such that the orientation of the end effector can be expressed in terms of the actual angles O, A, T.
- Publication:
-
IEEE Transactions on Systems Man and Cybernetics
- Pub Date:
- June 1984
- Bibcode:
- 1984ITSMC..14..483B
- Keywords:
-
- Kinematic Equations;
- Manipulators;
- Mathematical Models;
- Robotics;
- Trajectory Analysis;
- Degrees Of Freedom;
- Differential Geometry;
- End Effectors;
- Three Dimensional Motion;
- Trajectory Control;
- Engineering (General)