Auralius Manurung edited this page Oct 6, 2016 · 9 revisions

Welcome to the libkine wiki!

Screenshot

Puma robot

Puma robot

Examples

Puma Robot

Looking into several existing literatures on Puma Robot, the proposed model parameters vary from one literature to another literature. A very interesting work has been done by Corke et al [1] to investigate several reported model parameters of a Puma robot.

In libkine, we follow Armstrong model as described in [2].

a   alpha     d   theta
------------------------
0    0        0    0
0    -M_PI_2  d2   0
a2   0        d3   0
a3   M_PI_2   d4   0
0    -M_PI_2  0    0
0    M_PI_2   0    0

where

d2 = 243.5 / 1000.0
d3 = -93.4 / 1000.0
a2 = 431.8 / 1000.0
a3 = -20.3 / 1000.0
d4 = 433.1 / 1000.0

All units used here are in meters.

A 3D model of Puma robot was found in the this https://grabcad.com/library/robot-puma-560/files. This model is found to use slightly different parameters as reported above. The numerical data of the parameters above are then modified to follow the available 3D model.

Below is the parameters of the Puma based on the available CAD models:

a   alpha     d   theta
------------------------
0    0        0    0
0    -M_PI_2  d2   0
a2   0        d3   0
a3   M_PI_2   d4   0
0    -M_PI_2  0    0
0    M_PI_2   d6   0

where

d2 = 218.44 / 1000.0;
d3 = -88.9 / 1000.0;
a2 = 332.74 / 1000.0;
a3 = 0 / 1000.0;
d4 = 432.09 / 1000.0;
d6 = 53.34 / 1000.0;

[1] Corke, P. I., & Armstrong-Helouvry, B. (1994). A search for consensus among model parameters reported for the PUMA\n560 robot. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1608–1613. http://doi.org/10.1109/ROBOT.1994.351360

[2] Armstrong, B., Khatib, O., & Burdick, J. (1986). The explicit dynamic model and inertial parameters of the PUMA 560 arm. Proceedings. 1986 IEEE International Conference on Robotics and Automation, 3, 510–518. http://doi.org/10.1109/ROBOT.1986.1087644

You can’t perform that action at this time.
You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Reload to refresh your session.
Press h to open a hovercard with more details.