A search for consensus among model parameters reported for the PUMA 560 robot

The PUMA 560 robot is the white rat of robotics research - it has been studied and used in countless experiments over many years and in many laboratories. However, it remains a challenge to assemble the complete data needed for model-based control of the robot. This paper presents a numerical comparison of kinematic, dynamic and electrical parameters for the PUMA 560 robot which have been reported in the literature. For the first time, data from several experiments are presented in a single system of coordinates, which facilitates comparison. Differences in the data and the various methods of measurement are discussed. New data have been gathered and are presented where the record was incomplete