PUMA 560 robot

A simple and comprehensive menu-driven computer-based method for trajectory planning and force analysis in a planar robot is developed in the first paper. The robot designer is able to vary parameters and study their effect on the robot performance. In the second paper, a simple method to analyze the effect of torque and force on the first three links of a PUMA robot has been determined. Minimum time trajectory and bang-bang control with discontinuity points and knot points smoothed by parabolic blend are used. The workspace of a robotic arm using the Articulated Total Body model is calculated in the third paper. Computation of the workspace of the end effector is important in determining the effectiveness of a robot. 

Computer Aided Analysis of the First Three Links in a Puma Robot... 

The Puma robot has six degrees of freedom and has six revolute links to deliver a tool or maintain a position at any point in the space.The point has to lie within the working envelope. The first three links make up the main structure of the robot. The rest make up the wrist, which usually holds the part to be carried (see Fig. 1). The links are powered by DC servo motors. The robot is controlled by a programmable microcomputer. ... 

The task of Puma 500, the 6 degrees of freedom robot of the Institut fur Informatik, Technische Universitat Munchen which operates in the Denavit-Hardenberg identification of six joints connection is to identify objects on the robot platform and to move them in a predefined way. Figure 1 illustrates the robot components, namely (i) the robot frame, (ii) the effector frame, (iii) the object frame and (iv) the camera frame which are related according the commutative diagram of Figure 2. 

Figure 1 6 degrees of freedom robot Puma 500, 6 joints, Denavit-Hardenberg identification So — Ss, So robot frame, So effector frame, Sk camera frame. Sob object frame... 

The CCD-sensored robot Puma 500 was tested with respect to... 

The results can be interpreted as following One pixel perturbation leads approximately to a position perturbation of the order of 5-lOmm. A variation of focal length of the order of 5mm leads to a position perturbation of the order of 20mm. A precise positioning of given points on the robot table is absolutely necessary. An uncertainty of given point coordinates of the order of 1mm forces a perturbation of position of the order of 20mm. For a more detailed experimental study of the CCD-sensored robot Puma 500 we refer to A.Mader (1990). 

The MIME (Mirror Image Movemeru Enhancer) arm rehabilitator incorporates a PUMA 560 industrial robot arm to manipulate the patient s arm (Fig. 35.2) This device can move the patient s arm in three-dimensional space. For hemiparetic patients, the motion of the patient s unimpaired arm can be tracked with a mechanical digitizing stylus, and that motion can be used to control the trajectory of the impaired arm. 

The collision avoidance system was developed and tested with the graphics interface, and then integrated with the manipulators in the Intelligent Systems Research Laboratory (ISRL) at NASA Langley Research Center. The ISRL houses two Unima-tion PUMA 560 six-joint robotic manipulators with vision/image acquisition, graphics, and sensor systems supported by network of computers, consisting... 

The method presented in this paper was applied to the PUMA 560 shown in Fig. 3. Full description of the kinematic structure and geometry of the robot can be found in reference [9]. End-effector s straight up position is (-0.1491, 0, 1.5925) meters with respect to the base and has a maximum pay-load of 2.27 kg. 

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