Baradiant Ivano Leotman

2212105033

Inverse Kinematics PUMA 762 Simulator

Inverse problem are finding the joint variables in
terms of the end effector position and
orientation. This is problem of inverse
kinematics, and it is, in general, more difficult
than the forward kinematics problem.

Step 3: Create initial the link PUMA 762 with

this script,

The joint configuration of any robot can be

described by the Denavit-Hartenberg parameters.
These parameters are enough to obtain a working
visualization of the robot described. Presented is
a MATLAB program which models any robot
given a set of corresponding DH parameters.
This simulation allows the user to visualize the
joints and movements of the modeled robot. Step
to create Inverse Kinematics PUMA 762
simulator on MATLAB as follow,

Step 4: Compute forward and inverse kinematic

with function fkine and ikine

Step 1: Find the DH parameter of PUMA 762

Link
1
2
3
4
5
6

ai

di

(m)
(m)
0
90
0
90
0.65
0
0
-90
0.185
-90
0.19
-90
0
90
0.6
0
0
-90
0
0
0
0
0
0
Tabel 1. DH Parameter PUMA 762

puma_762=robot({L1,L2,L3,L4,L5,L6});
puma_762.name='PUMA 762';

q0=([0 0 0 0 0 0]);
T=fkine(puma_762, q0);
q=ikine(puma_762,T);
Then, set the translational component of a
homogenous transform with transl and
cartesian trajectory with ctraj
T1= transl(0.5, -0.4, 0.2);
T1_inv=ikine(puma_762,T1);
t = [0:0.056:10];
jt1 = ctraj(T, T1, length(t));
q1 = ikine(puma_762, jt1);
plot the manipulator,
plot(puma_762,q1)
And the result of Forward PUMA 762 are,

Step 2: Open the MATLAB and run file

startup.m from the toolbox robotic Peter E.
Corke release 8. Then, from the DH parameter
PUMA 762 write to the command window on
MATLAB this script,
L1=link([pi/2 0 pi/2 0]);
L2=link([0 0.65 0 0]);
L3=link([-pi/2 0.185 -pi/2 0.19]);
L4=link([pi/2 0 0 0.6]);
L5=link([-pi/2 0 0 0]);
L6=link([0 0 0 0]);

Function link : A link object holds all

information related to a robot link such as
kinematics parameters, rigid-body inertial
parameters, motor and transmission parameters.

Figure 1. Simulator PUMA 762

more detail, watching the video Forward PUMA
762 on this folder.