Kinematics Analysis and Trajectory Planning of Robot Based on MATLAB

Abstract

Taking PUMA560 robot as the carrier, the mathematical model and connecting rod coordinate system of PUMA560 robot are established, and its kinematics equations are written in parallel. The forward and inverse kinematics solutions of PUMA560 robot are obtained by using the robot toolbox robotics toolbox module in MATLAB software. Finally, the robot trajectory simulation is completed, which lays the foundation for future research.