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Assignment 4 Forward Kinematics

The document discusses the forward kinematics of the PUMA 560 robot manipulator. It provides background on the PUMA robot and describes the link-frame assignments. The forward kinematics problem involves determining the relationship between the robot's joint positions and the position and orientation of the end effector. A virtual simulator is described that allows simulation of the robot's motion by entering values for the six joint angles and visualizing the corresponding end effector position and workspace.

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Vaibhav Kulkarni
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183 views2 pages

Assignment 4 Forward Kinematics

The document discusses the forward kinematics of the PUMA 560 robot manipulator. It provides background on the PUMA robot and describes the link-frame assignments. The forward kinematics problem involves determining the relationship between the robot's joint positions and the position and orientation of the end effector. A virtual simulator is described that allows simulation of the robot's motion by entering values for the six joint angles and visualizing the corresponding end effector position and workspace.

Uploaded by

Vaibhav Kulkarni
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment 4 Forward Kinematics

Theory

Programmable Universal Machine for Assembly, more popularly known as PUMA is an industrial robot
arm developed by Victor Scheinman at Unimation, in the year 1978. PUMA comes in various makes viz.
PUMA 260, PUMA 560, PUMA 761 etc. Figure 2 shows link-frame assignments in the position
corresponding to all joint angles equal to zero. Here the frame {0} (not shown) is coincident with frame
[1} when is zero. Note also that, for this robot, as for many industrial robots, the joint axes of joints 4, 5,
and 6 all intersect at a common point, and this point of intersection coincides with the origin of frames
{4}, {5}, and {6}. Furthermore, the joint axes 4, 5, and 6 are mutually orthogonal. This wrist mechanism is
illustrated schematically in Fig.4. In this experiment forward kinematics of PUMA 560 is described
through a virtual model. The forward kinematics problem is concerned with the relationship between
the individual joints of the robot manipulator and the position and orientation of the tool or end
effector.

General Terminology in Robotics:

Workspace:

The reachable workspace of a robot's end-effector is the manifold of reachable frames.

Accuracy:

Accuracy refers to a robot's ability to position its wrist end at a desired target point within the work
volume, and it is defined in terms of spatial resolution. It depends on the technology and the control
increments.

Repeatability:

Repeatability is a statistical term associated with accuracy. If a robot joint moves by the same angle from
a certain point a number of times, all with equal environmental conditions, the target is always missed
by a large margin. If the same error is repeated, then we say that the repeatability is high and the
accuracy is poor.

Safety:

The ability to reduce the human-robot impact force and ensure human safety is a fundamental
requirement for human-friendly robots.

Forward Kinematics :
Objective

To identify the geometric relationship between input and output motion parameters of PUMA 560 robot
manipulator.

Formation of the transformation matrix though which a relationship is established between different
links of the manipulator.

Simulate the robot motion for various inputs of the joint angular value.

To have a brief idea about the workspace through a 3D graph plot of manipulator position for various
inputs.

Simulator
This program simulates a 6 link 3D Puma Robot using the javascript program. The model and its
movement of different links are encoded in javascript language. Model With this program the
forward kinematics of PUMA 560 is explained, and simultaneously movements of different joints
at a time can be seen. Axis coordinates and orientation are setup according to the theory
explained earlier. This program does not allow for the specification of angular speed or
acceleration of the arms. Click on the screenshot given below to start the simulation.

Kinematics Panel consists of:

ANGLE RANGE DOF

θ1θ1: 320 -160 to +160 Waist Joint

θ2θ2: 270 -225 to +45 Shoulder Joint

θ3θ3: 270 -225 to +45 Elbow Joint

θ4θ4: 280 -110 to +170 Wrist Roll

θ5θ5: 200 -100 to +100 Wrist Bend

θ6θ6: 532 -266 to +266 Wrist Swivel

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