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6.7 An Off-line PUMA 760 Robot Simulator

We have developed a visual simulator for robot arms, and identified the visual-motor model of our PUMA 760 robot arm. The simulator combines with Peter Corke's robotics toolbox to form a dynamic and kinematic visual simulation system for robot arms. Our simulator, along with the PUMA 760 model is available by ftpgif.

The simulator is based on the eigen-image visual front end and the off-line synthesis method. Robot movements are commanded in joint space tex2html_wrap_inline3726 , and also, using the toolbox, in world or tool space. The simulator plans robot trajectories, velocities and accelerations. With the toolbox the user can also calculate and plot the required forces from the motors. To make the distribution compact, a 2 DOF robot model is supplied, which is based on only 24 eigen-images.

The user can run the simulator to test and visually examine the execution of robot programs and control algorithms, while plotting instantaneous joint accelerations, velocities and positions. The execution of a motion command can be seen in fig. 6.8 and the visual result in Fig. 6.9 and Video 7.

 

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Figure 6.8: Instantaneous robot parameters simulated for a move of a PUMA 760

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Figure: 5 out of 30 synthesized views generated from the execution of the same command that generated the previous figure. Video 6



Martin Jägersand