Scilab Script
Last update : October 2007

rt_puma560 - create a Puma 560 robot object[view code]

Calling Sequence

exec <PATH>/models/rt_puma560.sce;


This Scilab script creates the robot object p560 which describes the kinematic and dynamic characteristics of a Unimation Puma 560 manipulator. The kinematic conventions used are as per Paul and Zhang, and all quantities are in standard SI units.

Also defines the joint coordinate vectors qz, qready and qstretch corresponding to the zero-angle, ready and fully extended (in X-direction) poses respectively.


   // load Puma 560 parameters
   exec <PATH>/models/rt_puma560.sce;
   disp(p560);                                  // display the robot

   // show it at qz, qready and qstretch poses
   h0 = scf(0); a0 = h0.children;
   a0.tight_limits = "on"; a0.rotation_angles = [73, -50];

   disp(qz);                                    // QZ
   disp(rt_fkine(p560, qz));
   rt_plot(p560, qz);

   disp(qready);                                // QREADY
   disp(rt_fkine(p560, qready));
   rt_plot(p560, qready);

   disp(qstretch);                              // QSTRETCH
   disp(rt_fkine(p560, qstretch));
   rt_plot(p560, qstretch);


See Also

rt_robot,  rt_puma560akb,  rt_stanford,  rt_twolink,  


original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa


Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

R.P. Paul and H. Zhang. "Computationally efficient kinematics for manipulators with spherical wrists." Int. J. Robot. Res., vol. 5, no. 2, pp. 32-44, 1986.

P.I. Corke and B. Armstrong-Helouvry. "A search for consensus among model parameters reported for the PUMA 560 robot." in Proc. IEEE Int. Conf. Robotics and Automation, (San Diego), pp. 1608-1613, May 1994.

P.I. Corke and B. Armstrong-Helouvry. "A meta-study of PUMA 560 dynamics: A critical appraisal of literature data." Robotica, vol. 13, no. 3, pp. 253-258, 1995.

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