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1、ThemovementsimulationandtrajectoryplanningofPUMA560robotShibozhaoAbstract:Inthisessay,weadoptmodelingmethodtostudyPUMA560robotintheuseofRoboticsToolboxbasedonMATLAB.Wemainlyfocusonthreeproblemsinclude:theforwardkinematics,inversekinematicsandtrajectoryplan
2、ning.Atthesametime,wesimulateeachproblemabove,observethemovementofeachjointandexplainthereasonfortheselectionofsomeparameters.Finally,weverifythefeasibilityofthemodelingmethod.Keywords:PUMA560robot;kinematics;RoboticsToolbox;Thesimulation;I.IntroductionAsa
3、utomationbecomesmoreprevalentinpeople’slife,robotbeginsmorefurthertochangepeople’sworld.Therefore,weareobligedtostudythemechanismofrobot.Howtomove,howtodeterminethepositionoftargetandtherobotitself,andhowtodeterminetheanglesofeachpointneededtoobtaintheposi
4、tion.Inordertostudyrobotmorevalidly,weadoptrobotsimulationandobject-orientedmethodtosimulatetherobotkinematiccharacteristics.Wehelpresearchersunderstandtheconfigurationandlimitoftherobot’sworkingspaceandrevealthemechanismofreasonablemovementandcontrolalgor
5、ithm.Wecanlettheusertoseetheeffectofthedesign,andtimelyfindouttheshortcomingsandtheinsufficiency,whichhelpusavoidtheaccidentandunnecessarylossesonoperatingentity.ThispaperestablishesamodelforRobotPUMA560byusingRoboticsToolbox,andstudytheforwardkinematicsan
6、dinversekinematicsoftherobotandtrajectoryplanningproblem.II.TheintroductionoftheparametersforthePUMA560robotPUMA560robotisproducedbyUnimationCompanyandisdefinedas6degreesoffreedomrobot.Itconsists6degreesoffreedomrotaryjoints(Thestructurediagramisshowninfig
7、ure1).Referringtothehumanbodystructure,thefirstjoint（J1）calledwaistjoints.Thesecondjoint（J2）calledshoulderjoint.Thethirdjoint（J3）calledelbowjoints.ThejointsJ4J5,J6,arecalledwristjoints.Where,thefirstthreejointsdeterminethepositionofwristreferencepoint.Thel
8、atterthreejointsdeterminetheorientationofthewrist.TheaxisofthejointJ1locatedverticaldirection.TheaxisdirectionofjointJ2,J3ishorizontalandparallel,a3metersapart.JointJ1,J2axisareverticalintersectionandjointJ3,
