DocumentCode
1205162
Title
Efficient kinematic transformations for the PUMA 560 robot
Author
Elgazzar, Shadia
Author_Institution
National Research Council of Canada, Montreal Road, Ottawa, Canada
Volume
1
Issue
3
fYear
1985
fDate
9/1/1985 12:00:00 AM
Firstpage
142
Lastpage
151
Abstract
Efficient solutions for the kinematic positions, velocities, and accelerations for the six-degree-of-freedom PUMA 560 robot are presented. The kinematic problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The solution method is based on a method that fully exploits the special geometry of the robot in the derivation of the solution. Special attention is given to the arm configuration in both directions of the transformation.
Keywords
Manipulators; Acceleration; Computational geometry; Elbow; End effectors; Helium; Kinematics; Orbital robotics; Robots; Shoulder; Wrist;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/JRA.1985.1087013
Filename
1087013
Link To Document