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
fDate :
Feb. 28 2011-March 2 2011
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;
Conference_Titel :
Electrical Communications and Computers (CONIELECOMP), 2011 21st International Conference on
Conference_Location :
San Andres Cholula
Print_ISBN :
978-1-4244-9558-0
DOI :
10.1109/CONIELECOMP.2011.5749371
