本项目为归档项目包，不再更新维护，该项目可作为机器人相关专业的本科生和研究生进行学习和参考的资料。 项目首先对PUMA560机械臂的基本结构和参数进行了介绍，对其运动学特性进行了分析并给出了正逆运动学的完整算法。其次，建立了PUMA560的三维模型，制作了机器人的URDF网格可视化文件，并在Simulink中开发了机械臂的可视化仿真框架。最后，分别基于关节空间和笛卡尔空间对机械臂进行了轨迹规划并在Simulink中实现了典型轨迹的可视化仿真。
Control of a PUMA 560 robot arm with six rotoidal joints
PUMA560 as a sorting robot simulation in MATLAB with Peter Corke toolbox and Centralised control.
MATLAB simulation of PUMA 560 robot kinematics, Euler-angle transformations and Cartesian trajectory planning. | 基于 MATLAB 的 PUMA 560 机器人运动学、欧拉角变换与笛卡尔轨迹规划仿真。
Robotics Project (Industrial Robotics and Mobile Robotics).
Learned trajectory-level inverse kinematics for the PUMA 560: set-prediction network, learned refiner and Viterbi DP, benchmarked against closed-form IK
Forward kinematics and visualization of the PUMA 560 robotic manipulator using Denavit–Hartenberg parameters in Python.
Python robot kinematics toolkit for a planar 3R arm, a SCARA and a PUMA 560: standard DH forward kinematics, closed-form and damped-least-squares IK, Jacobians and singularities, Monte Carlo workspaces, PTP/LIN trajectories and certified capsule collision checks.
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