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Looking into several existing literatures on Puma Robot, the proposed model parameters vary from one literature to another literature. A very interesting work has been done by Corke et al [1] to investigate several reported model parameters of a Puma robot.
In libkine, we follow Armstrong model as described in [2].
a alpha d theta
------------------------
0 0 0 0
0 -M_PI_2 d2 0
a2 0 d3 0
a3 M_PI_2 d4 0
0 -M_PI_2 0 0
0 M_PI_2 0 0
where
d2 = 243.5 / 1000.0
d3 = -93.4 / 1000.0
a2 = 431.8 / 1000.0
a3 = -20.3 / 1000.0
d4 = 433.1 / 1000.0
All units used here are in meters.
A 3D model of Puma robot was found in the this https://grabcad.com/library/robot-puma-560/files. This model is found to use slightly different parameters as reported above. The numerical data of the parameters above are then modified to follow the available 3D model.
Below is the parameters of the Puma based on the available CAD models:
a alpha d theta
------------------------
0 0 0 0
0 -M_PI_2 d2 0
a2 0 d3 0
a3 M_PI_2 d4 0
0 -M_PI_2 0 0
0 M_PI_2 d6 0
where
d2 = 218.44 / 1000.0;
d3 = -88.9 / 1000.0;
a2 = 332.74 / 1000.0;
a3 = 0 / 1000.0;
d4 = 432.09 / 1000.0;
d6 = 53.34 / 1000.0;
[1] Corke, P. I., & Armstrong-Helouvry, B. (1994). A search for consensus among model parameters reported for the PUMA\n560 robot. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1608–1613. http://doi.org/10.1109/ROBOT.1994.351360
[2] Armstrong, B., Khatib, O., & Burdick, J. (1986). The explicit dynamic model and inertial parameters of the PUMA 560 arm. Proceedings. 1986 IEEE International Conference on Robotics and Automation, 3, 510–518. http://doi.org/10.1109/ROBOT.1986.1087644