机器人运动学Kinematics_final课件.pptVIP

An Introduction to Robot Kinematics An Example - The PUMA 560 * Renata Melamud Kinematics studies the motion of bodies The PUMA 560 has SIX revolute joints A revolute joint has ONE degree of freedom ( 1 DOF) that is defined by its angle 1 2 3 4 There are two more joints on the end effector (the gripper) Other basic joints Spherical Joint 3 DOF ( Variables - ?1, ?2, ?3) Revolute Joint 1 DOF ( Variable - ?) Prismatic Joint 1 DOF (linear) (Variables - d) We are interested in two kinematics topics Forward Kinematics (angles to position) What you are given: The length o