Robotics Project: Part 1
For a PUMA 560 robot manipulator with the following kinematic table,
Joint
d(m)
a(m)
α
θ
1
0
0
-90◦
0◦
2
0
0.432
0◦
0◦
3
0.149
-0.02
90◦
0◦
4
0.433
0
-90◦
0◦
5
0
0
90◦
0◦
6
0
0
0◦
0◦
−160◦ ≤θ1 ≤ 160◦, −125◦ ≤θ2 ≤ 125◦
−135◦ ≤θ3 ≤ 135◦, −140◦ ≤θ4 ≤ 140◦
−100◦ ≤θ5 ≤ 100◦, −260◦ ≤θ6 ≤ 260◦
please write a program for the following two transformations:
• input: Cartesian point (n, o, a, p), output: the corresponding joint variables.
• input: joint variables, output: Cartesian point (n, o, a, p) and (x, y, z, φ, θ, ψ).
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