DocumentCode
1299896
Title
An exact kinematic model of PUMA 600 manipulator
Author
Bazerghi, A. ; Goldenberg, A.A. ; Apkarian, J.
Author_Institution
Dept. of Electrical Engng., Univ. of Toronto, Toronto, Ont., Canada
Issue
3
fYear
1984
Firstpage
483
Lastpage
487
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 solutions of the inverse kinematics 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 coordinate angles.
Keywords
industrial robots; kinematics; PUMA 600 robotic manipulator; coordinate angles; exact kinematic model; industrial robot; link coordinate frames; reference orientation frame; Angular velocity; Joints; Kinematics; Manipulators; Mathematical model; Vectors;
fLanguage
English
Journal_Title
Systems, Man and Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
0018-9472
Type
jour
DOI
10.1109/TSMC.1984.6313243
Filename
6313243
Link To Document