PUMA 560:Robot Prototype with Graphic Simulation Environment


Antonio Benitez;Ignacio Huitzil;Azgad Casiano;Jorge De La Calleja;Medina M.A.;


This paper presents the necessary elements to manipulate kinematic applications for a PUMA 560 models using a graphic simulation tool to present forward and inverse kinematics methods.Besides an implementations and applications to forward kinematic has been download through prototype robot based on Dynamixel AX-12 servo motors.Hence kinematics chains with six degrees of freedom are modeled and solved.As promising results a platform to simulate on three dimension space is presented as an important tool to verify the movements programmed on the robot.


Forward and Inverse Kinematics Treatment,Robot prototype mechanism,and Programming and 3D Simulation


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