<< mdl_puma560 Models mdl_puma560akb >>

Robotics_Toolbox >> Robotics_Toolbox > Models > mdl_puma560_3

mdl_puma560_3

Create model of Puma 560 manipulator

Calling Sequence

mdl_puma560_3

Description

Script creates the workspace variable p560 which describes the kinematic and dynamic characteristics of a Unimation Puma 560 manipulator using standard DH conventions. The model includes armature inertia and gear ratios.

Also define the workspace vectors:

qz zero joint angle configuration

qready vertical 'READY' configuration

qstretch arm is stretched out in the X direction

qn arm is at a nominal non-singular configuration

Notes

Bibliography

[1] "A search for consensus among model parameters reported for the PUMA 560 robot", P. Corke and B. Armstrong-Helouvry, Proc. IEEE Int. Conf. Robotics and Automation, (San Diego), pp. 1608-1613, May 1994.

[2] "A combined optimization method for solving the inverse kinematics problem...", Wang & Chen, IEEE Trans. RA 7(4) 1991 pp 489-

See also

Authors


Report an issue
<< mdl_puma560 Models mdl_puma560akb >>