Efficient kinematic transformations for the PUMA 560 robot
- 1 September 1985
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 1 (3) , 142-151
- https://doi.org/10.1109/jra.1985.1087013
Abstract
Efficient solutions for the kinematic positions, velocities, and accelerations for the six-degree-of-freedom PUMA 560 robot are presented. The kinematic problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The solution method is based on a method that fully exploits the special geometry of the robot in the derivation of the solution. Special attention is given to the arm configuration in both directions of the transformation.Keywords
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