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1、...ThemovementsimulationandtrajectoryplanningofPUMA560robotShibozhaoAbstract:Inthisessay,weadoptmodelingmethodtostudyPUMA560robotinthe
useofRoboticsToolboxbasedonMATLAB.Wemainlyfocusonthreeproblemsinclude:
theforwardkinematics,inversekinematicsandtrajectoryplanning.Atthesametime,we
simula
2、teeachproblemabove,observethemovementofeachjointandexplainthereason
fortheselectionofsomeparameters.Finally,weverifythefeasibilityofthemodeling
method.Keywords:PUMA560robot;kinematics;RoboticsToolbox;Thesimulation;I.IntroductionAsautomationbecomesmoreprevalentinpeopl’eslife,robotbeginsmor
3、efurtherto
changepeople’sworld.Therefore,weareobligedtostudythemechanismofrobot.How
tomove,howtodeterminethepositionoftargetandtherobotitself,andhowto
determinetheanglesofeachpointneededtoobtaintheposition.Inordertostudyrobot
morevalidly,weadoptrobotsimulationandobject-orientedmethodtosim
4、ulatetherobot
kinematiccharacteristics.Wehelpresearchersunderstandtheconfigurationandlimitof
therobotsw’orkingspaceandrevealthemechanismofreasonablemovementandcontrol
algorithm.Wecanlettheusertoseetheeffectofthedesign,andtimelyfindoutthe
shortcomingsandtheinsufficiency,whichhelpusavoidthe
5、accidentandunnecessary
lossesonoperatingentity.ThispaperestablishesamodelforRobotPUMA560byusing
RoboticsToolbox,andstudytheforwardkinematicsandinversekinematicsoftherobot
andtrajectoryplanningproblem.II.TheintroductionoftheparametersforthePUMA560robotPUMA560robotisproducedbyUnimationCompa
6、nyandisdefinedas6degreesof
freedomrobot.Itconsists6degreesoffreedomrotaryjoints(Thestructurediagramis
showninfigure1).Referringtothehumanbodystructure,thefirstjoi（ntJ1）calledwaistjoints.Thesecondjoin（tJ2）calledshoulderjoint.Thethirdjoint（J3）calledelbowjoints.
ThejointsJ4J5,J6,arecalledwri
7、stjoints.Where,thefirstthreejointsdeterminethe
positionofwristreferencepoint.Thelatterthreejointsdeterminetheorientationofthe
wrist.TheaxisofthejointJ1locatedverticaldirection.TheaxisdirectionofjointJ2,J3
ishorizontalandparallel,a3metersapart.JointJ1,J2axisarevertic
