On the basis of establishing the PUMA560 robot model,the kinematics theory of the model is analyzed by D-H coordinate system,the relevant formula is deduced,and the joint angle is substituted to get the theoretical value of the end position.Taking the world-famous mechanical system simulation soft-ware ADAMS as the analysis platform,the model is imported into ADAMS and relevant simulations are conducted to obtain simulation data,which is compared with theoretical values.Through data processing,it can be concluded that the kinematic error of the PUMA560 robot is relatively small,and the robot can a-chieve the expected action effect.
维普
万方数据