1

Robot Dynamics and Control (EE 574)

Joseph Bingham

Abstract The purpose of this report is to demonstrate the use of the Denavit-Hartenburg parameters in the analysis of the PUMA 560 robot. Index Terms PUMA 560, Robot, Danavit-Hartenberg parameters, Control

B. Construct Table Link 1 2 3 4 5 6 a 0 A2 0 0 0 0 90 0 90 -90 90 0 d 0 D1 D3 D4 0 0 1 2 3 4 5 6

I. INTRODUCTION HE PUMA 560 is a six degree of freedom robot manipulator. In order to analyze the forward kinematics of the robot, it is convenient to use the Denavit-Hartenburg convention. The D-H Convention greatly reduces the complexity of analysis by reducing the number of parameters needed to specify a transformation. This paper breaks the analysis of the robot into three steps: selecting appropriate coordinate frames, assigning D-H parameters, and solving the resulting homogenous transforms. II. PROCEDURE A. Assign Coordinate Frames

C. Compute Homogenous Transforms = 0 0

0 1

1 = 2 0 0

= 0 0

2 = 3 0 0 = 0 0

0 0 0 0 1 0

0 0 1 0

0 0 0 0 0 1 0

3 4

4 5

Figure 1

5 = 6 0 0

= 0 0

0 0 1 0 0 0 1 0

0 0

2 2 3 1 0 0 3 1

0 0 0 1

1 1 1 1

0 0

0 0

0 0

0 0 1 0

0 0 0 1

0 0 0 1

0 0 4 1

D. Choose a T that give the orientation in figure 2

Figure 2

0 0 1 2 = 1 2 3 = 3

1 0 0 1 = (3 ) = 0 3 0
3 4 5 3 6 = 4 5 6 =

1 0 0 1 = 0 0 0 0

1 0 0 0 = 0 1 0 0

0 1 0 0

0 0 1 0

0 1 0 0 0 1 1 0 0 1 0 0

0 1 0

2 1 3 0 1 0 0 1

0 2 1 0 0 0 1 1 0 0 1 0

0 0 0 1 1 0 0 0

0 0 3 1

Setting 1 6 = 0 yields the orientation in figure 2

0 1

1 0 0 0 2 3 = 0 1 0 0
3 4

1 0 1 = 2 0 0

1 0 0 0 = 0 1 0 0

0 0 1 0 0 1 0 0

0 0 1 0 0 0 0 1 2 0 1 1

1 3 3 1 = (6 ) = 0 6 0
0 6

1 0 0 1 = 0 0 0 0

1 0 = 0 0

0 0 1 0

0 0 0 0 1 4 0 1 0 1 0

0 0 1 0 1 0 0 0 0 4 0 1 0 1 0 0

0 1 0 0

0 1 0 0 0 0 1 0

0 0 1 0 0 1 0 0

0 0 0 1

0 4 5 = 0 0

0 = 0 0

0 0 1 0

0 0 1 0 0 3 0 1

0 1 2 3 4 5 1 2 3 4 5 6

1 0 0 1 5 = 6 0 0 0 0

0 0 0 1 1 0 0 0 0 0 1 0

0 0 1 0 0 4 0 1 0 0 0 1

1 0 = 0 6 0

0 1 0

0 0 1

1 0 0 1 = 0 0 0 0

0 0 1

0 0 1 0

2 1 3 4 1

II .

CONCLUSION

0 0 0 1

0 The homogenous transform 6 represents the transformation from the base frame to the end effector of the PUMA robot. Columns 1, 2 and 3 of the upper 3x4 sub matrix represent the direction of the 6 6 6 with respect to 0 0 0 frame. The 4th column of the upper 3x4 matrix is a vector from o0 to o6

III.

REFERNCES

M. Spong, Seth Hutchinson, M. Vidyasagar. Robot Modeling and Control. John Wiley and Sons , NY, NY, 2006