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  • PUMA 560 Forward

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    Bhanu Pratap Singh
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    This document contains code to calculate the forward kinematics of a Puma 560 robot arm given the joint angles in the vector t. The code calls the fkine function of the puma560 model which returns the homogeneous transformation matrix H representing the forward kinematics. It then calls the plot function to visualize the configuration graphically.

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    This document contains code to calculate the forward kinematics of a Puma 560 robot arm given the joint angles in the vector t. The code calls the fkine function of the puma560 model which returns the homogeneous transformation matrix H representing the forward kinematics. It then calls the plot function to visualize the configuration graphically.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    17 views1 page

    PUMA 560 Forward

    Uploaded by

    Bhanu Pratap Singh
    This document contains code to calculate the forward kinematics of a Puma 560 robot arm given the joint angles in the vector t. The code calls the fkine function of the puma560 model which returns the homogeneous transformation matrix H representing the forward kinematics. It then calls the plot function to visualize the configuration graphically.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 1

    %Puma 560 Foward Kinematics

    mdl_puma560
    t=[20 35 10 90 -40 15]
    H = p560.fkine(t)
    p560.plot(t)

    t =

    20 35 10 90 -40 15

    H =
    -0.5174 -0.7291 -0.4481 -0.1678
    -0.7615 0.1533 0.6298 -0.7432
    -0.3905 0.6671 -0.6344 0.05922
    0 0 0 1

    Published with MATLAB® R2019a

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