Click on the screenshot to start the simulation
This program shows inverse kinematics part of PUMA560. The model and its movement of different links are encoded in javascript language. A default initial position and orientation is given in the input panel and the corresponding output results are shown in the output table. A user can change the position by specifing new values. 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 |
| \( \theta_3 : 270 \) | -45 to 225 | 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 |