Inverse kinematic solution to a calibrated Puma 560 industrial robot

✍ Scribed by N. Chen; G.A. Parker

• Publisher: Elsevier Science
• Year: 1994
• Tongue: English
• Weight: 567 KB
• Volume: 2
• Category: Article
• ISSN: 0967-0661
• DOI: 10.1016/0967-0661(94)90203-8

✦ Synopsis

Robot calibration techniques provide a practical approach to improve the accuracy of industrial robot manipulators. A problem associated with the calibrated results is that the inverse kinematic solution to the calibrated kinematic model becomes difficult to resolve. This paper presents a method for solving the inverse kinematics problem of an S-model calibrated Puma 560 robot. It is a numerical iterative approach based on the closed-form inverse kinematic solution to the nominal Puma kinematic model. The reported method is accurate, efficient and suitable for real-time applications.