基于MATLAB的PUMA560机器人运动仿真与轨迹规划5例析.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;