基于MATLAB的PUMA560机器人运动仿真与轨迹规划5解析.doc

The movement simulation and trajectory planning of PUMA560 robot Shibo zhao Abstract: In this essay, we adopt modeling method to study PUMA560 robot in the use of Robotics Toolbox based on MATLAB. We mainly focus on three problems include: the forward kinematics, inverse kinematics and trajectory planning. At the same time, we simulate each problem above, observe the movement of each joint and explain the reason for the selection of some parameters. Finally, we verify the feasibility of the modeling method. Key words: PUMA560 robot; kinematics; Robotics Toolbox; The simulation; I.Introduction As automation becomes more prevalent in people’s life, robot begins more further to change people’s world. Therefore, we are obliged to study the mechanism of robot. How to move, how to determine the position of target and the robot itself, and how to determine the angles of each point needed to obtain the position. In order to study robot more validly, we adopt robot simulation and object-oriented method to simulate the robot kinematic characteristics. We help researchers understand the configuration and limit of the robot’s working space and reveal the mechanism of reasonable movement and control algorithm. We can let the user to see the effect of the design, and timely find out the shortcomings and the insufficiency, which help us avoid the accident and unnecessary losses on operating entity. This paper establishes a model for Robot PUMA560 by using Robotics Toolbox, and study the forward kinematics and inverse kinematics of the robot and trajectory planning problem. II.The introduction of the parameters for the PUMA560 robot PUMA560 robot is produced by Unimation Company and is defined as 6 degrees of freedom robot. It consists 6 degrees of freedom rotary joints (The structure diagram is shown in figure 1). Referring to the human body structure, the first joint（J1） called waist joints. The second joint（J2）called shoulder joint. The third joint （J3）call