Analysis of Puma-560 and Legged Robotic Configurations Using MATLAB

This paper will deal with the precise modelling and analysis of an industrial robot (Puma560) and a legged robot. These two configurations are analyzed because the PUMA 560 is the widely used robot in the industry and legged motion is far superior to the wheeled locomotion. The modelling and analyze is done by using a very powerful simulator called the MATLAB (Robotic Toolbox). The programme analyses the time and motion sequences, the dynamics and control (with and without motion) for the given robotic configurations. Framework for dynamic modelling is proposed with the concept of kinematic modules (forward and inverse), where each module is taken as a set of serially connected links. Translation of robot’s base and end effecter and the modelling of robots arm in different orientations are also considered. The results are graphical represented and analyzed as the plots between the different robotic parameters like the link’s joint angle, time and the motion of the end effecter i.e. the roll, pitch, and yaw, for various poses (positions/orientations).