[Solved] Robotics Project1-PUMA 560 robot manipulator

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[Solved] Robotics Project1-PUMA 560 robot manipulator

$25

File Name: Robotics_Project1_PUMA_560_robot_manipulator.zip
File Size: 414.48 KB

SKU: [Solved] Robotics Project1-PUMA 560 robot manipulator Category: Tag:
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For a PUMA 560 robot manipulator with the following kinematic table,

Joint d(m) a(m)
1 0 0 -90 0
2 0 0.432 0 0
3 0.149 -0.02 90 0
4 0.433 0 -90 0
5 0 0 90 0
6 0 0 0 0

160 1 160, 125 2 125

135 3 135, 140 4 140

100 5 100, 260 6 260

please write a program for the following two transformations:

  • input: Cartesian point (n, o, a, p), output: the corresponding joint variables.
  • input: joint variables, output: Cartesian point (n, o, a, p) and (x, y, z, , , ).

1

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[Solved] Robotics Project1-PUMA 560 robot manipulator[Solved] Robotics Project1-PUMA 560 robot manipulator
$25