Click on the screenshot to start the simulation
This program simulates a 6 link 3D Puma Robot using the javascript program. The model and its movement of different links are encoded in javascript language. Model With this program the forward kinematics of PUMA 560 is explained, and simultaneously movements of different joints at a time can be seen. Axis coordinates and orientation are setup according to the theory explained earlier. This program does not allow for the specification of angular speed or acceleration of the arms. Click on the screenshot given below to start the simulation.
| ANGLE | RANGE | DOF |
|---|---|---|
| \( \theta_1 : 320 \) | -160 to 160 | Waist Joint |
| \( \theta_2 : 270 \) | -225 to 45 | Shoulder Joint |
| \( \theta_3 : 270 \) | -225 to 45 | Elbow Joint |
| \( \theta_4 : 280 \) | -110 to 170 | Wrist Roll |
| \( \theta_5 : 200 \) | -100 to 100 | Wrist Bend |
| \( \theta_6 : 532 \) | -266 to 266 | Wrist Swivel |