ThemovementsimulationandtrajectoryplanningofPUMA560robotShibozhaoAbstract:Inthisessay,weadoptmodelingmethodtostudyPUMA560robotintheuseofRoboticsToolboxbasedonMATLAB.Wemainlyfocusonthreeproblemsinclude:theforwardkinematics,inversekinematicsandtrajectoryplanning.Atthesametime,wesimulateeachproblemabove,observethemovementofeachjointandexplainthereasonfortheselectionofsomeparameters.Finally,weverifythefeasibilityofthemodelingmethod.Keywords:PUMA560robot;kinematics;RoboticsToolbox;Thesimulation;I.IntroductionAsautomationbecomesmoreprevalentinpeople’slife,robotbeginsmorefurthertochangepeople’sworld.Therefore,weareobligedtostudythemechanismofrobot.Howtomove,howtodeterminethepositionoftargetandtherobotitself,andhowtodeterminetheanglesofeachpointneededtoobtaintheposition.Inordertostudyrobotmorevalidly,weadoptrobotsimulationandobject-orientedmethodtosimulatetherobotkinematiccharacteristics.Wehelpresearchersunderstandtheconfigurationandlimitoftherobot’sworkingspaceandrevealthemechanismofreasonablemovementandcontrolalgorithm.Wecanlettheusertoseetheeffectofthedesign,andtimelyfindouttheshortcomingsandtheinsufficiency,whichhelpusavoidtheaccidentandunnecessarylossesonoperatingentity.ThispaperestablishesamodelforRobotPUMA560byusingRoboticsToolbox,andstudytheforwardkinematicsandinversekinematicsoftherobotandtrajectoryplanningproblem.II.TheintroductionoftheparametersforthePUMA560robotPUMA560robotisproducedbyUnimationCompanyandisdefinedas6degreesoffreedomrobot.Itconsists6degreesoffreedomrotaryjoints(Thestructurediagramisshowninfigure1).Referringtothehumanbodystructure,thefirstjoint（J1）calledwaistjoints.Thesecondjoint（J2）calledshoulderjoint.Thethirdjoint（J3）calledelbowjoints.ThejointsJ4J5,J6,arecalledwristjoints.Where,thefirstthreejointsdeterminethepositionofwristreferencepoint.Thelatterthreejointsdeterminetheorientationofthewrist.TheaxisofthejointJ1locatedverticaldirection.TheaxisdirectionofjointJ2,J3ishorizontalandparallel,a3metersapart.JointJ1,J2axisareverticalintersectionandjointJ3,J4axisareverticalcrisscross,distanceofa4.Thelatterthreejoints’axeshaveanintersectionpointwhichisalsooriginpointfor{4},{5},{6}coordinate.(Eachlinkcoordinatesystemisshowninfigure2)Fig1thestructureofpuma560Fig2thelinkscoordinateofpuma560WhenPUMA560Robotisintheinitialstate,thecorrespondinglinkparametersareshowedintable1.Theexpressionofparameters:Letlengthofthebarrepresentthedistancebetweenandalong.Torsionangledenotetheanglerevolvingfromto.Themeasuringdistancebetweenandalongis.Jointangleistheanglerevolvingfromtoalong.Table1theparametersofpuma560linkRange100900-160~1602-90000.1491-225~45300.4318-900-45~2254-90-0.021300.4331-110~170590000-100~1006-90000-266~266III.ThemovementanalysisofPuma560robot3.1ForwardkinematicDefinition:Forwardkinematicsproblemistosolvetheposeofend-effectercoordinaterelativetothebasecoordinatewhengiventhegeometricparametersoflinkandthetranslationofjoint.Letmakethingsclearly:Whatyouaregiven:thelengthofeachlinkandtheangleofeachjointWhatyoucanfind:thepositionofanypoint(i.e.it’scoordinate)3.2ThesolutionofforwardkinematicsMethod:AlgebraicsolutionPrincipal:Thekinematicmodelofarobotcanbewrittenlikethis,wheredenotesthevectorofjointvariable,denotesthevectoroftaskvariable,isthedirectkinematicfunctionthatcanbederivedforanyrobotstructure.TheoriginofEachjointisassignedacoordinateframe.UsingtheDe...
