PUMA 机器人的动态仿真

Dynamic Simulation of PUMA Manipulators

摘要: 本文着重介绍对PUMA机器人进行运动学及动力学仿真的方法及相应软件．该软件能够对PUMA560及PUMA600进行动态仿真，它为PUMA机械手的运动分析及控制研究提供了方便的工具．

Abstract: This paper describes a simulation algorithm and corresponding software of kinematics and dynamics for PUMA manipulators.The software can be suitable for PUMA 560 and PUMA 600 manipulators,It provides a convenient tool for motion analysisand control study of PUMA manipulators.