DocumentCode
2943562
Title
A 3D simulation environment for kinematic task of the PUMA 560 robot
Author
Benitez, Antonio ; Huitzil, Ignacio ; Casiano-Ramos, A. ; Medina, Miguel A. ; Calleja, Jorge De La
Author_Institution
Dept. of Inf. Eng., Polytech. Univ. of Puebla, Puebla, Mexico
fYear
2011
fDate
Feb. 28 2011-March 2 2011
Firstpage
260
Lastpage
265
Abstract
Robots with articulated morphology has acquired major importance because of representing la basic application to scale to highly articulated chains. Hence, this paper is focus to present how manipulate kinematic chains with six degrees of freedom, in particular way the model associated to PUMA 560 robot. Techniques to compute forward and inverse kinematic are described. Besides, a platform to simulate on three dimension space is presented as a important tool to verify the movements programmed on the robot. Interesting results from inverse kinematic applications are shown.
Keywords
manipulator kinematics; 3D simulation environment; PUMA 560 robot; articulated morphology; forward kinematic; inverse kinematic; kinematic task; manipulator robots; Joints; Kinematics; Manipulators; Navigation; Simulation; Three dimensional displays; Trajectory; 3D Simulation Environments; Forward and Inverse Kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical Communications and Computers (CONIELECOMP), 2011 21st International Conference on
Conference_Location
San Andres Cholula
Print_ISBN
978-1-4244-9558-0
Type
conf
DOI
10.1109/CONIELECOMP.2011.5749371
Filename
5749371
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