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Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:35 -0000

--- v8
+++ v9
@@ -2,7 +2,9 @@

 # Screenshot 

-![Puma robot](https://github.com/auralius/libkine/blob/master/sshot.png)
+![Puma robot](https://github.com/auralius/libkine/blob/master/sshot.png)  
+
+![Puma robot](https://github.com/auralius/libkine/blob/master/sshot2.png)

 # Examples

Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:32 -0000

--- v7
+++ v8
@@ -31,7 +31,7 @@

 All units used here are in meters.

-However, a 3D model of Puma robot was found in the this [https://grabcad.com/library/robot-puma-560/files](link). The numerical data of the parameters above are then modified to follow the available 3D model. Nevertheless, the differences are considerably small.
+A 3D model of Puma robot was found in the this [https://grabcad.com/library/robot-puma-560/files](link). This model is found to use slightly different parameters as reported above. The numerical data of the parameters above are then modified to follow the available 3D model. 

 Below is the parameters of the Puma based on the available CAD models:

@@ -56,3 +56,8 @@
 [1] Corke, P. I., & Armstrong-Helouvry, B. (1994). A search for consensus among model parameters reported for the PUMA\n560 robot. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1608–1613. http://doi.org/10.1109/ROBOT.1994.351360

 [2] Armstrong, B., Khatib, O., & Burdick, J. (1986). The explicit dynamic model and inertial parameters of the PUMA 560 arm. Proceedings. 1986 IEEE International Conference on Robotics and Automation, 3, 510–518. http://doi.org/10.1109/ROBOT.1986.1087644
+
+# Using the Libraries
+
+More works are still necessary to separate the libkine into a shared library. For the moment, all files are put together with the main and are the compiled along the main file.
+

Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:32 -0000

--- v6
+++ v7
@@ -1,5 +1,8 @@
 # Welcome to the libkine wiki!

+# Screenshot 
+
+![Puma robot](https://github.com/auralius/libkine/blob/master/sshot.png)

 # Examples

Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:32 -0000

--- v5
+++ v6
@@ -30,6 +30,26 @@

 However, a 3D model of Puma robot was found in the this [https://grabcad.com/library/robot-puma-560/files](link). The numerical data of the parameters above are then modified to follow the available 3D model. Nevertheless, the differences are considerably small.

+Below is the parameters of the Puma based on the available CAD models:
+
+    a   alpha     d   theta
+    ------------------------
+    0    0        0    0
+    0    -M_PI_2  d2   0
+    a2   0        d3   0
+    a3   M_PI_2   d4   0
+    0    -M_PI_2  0    0
+    0    M_PI_2   d6   0
+
+where
+
+    d2 = 218.44 / 1000.0;
+    d3 = -88.9 / 1000.0;
+    a2 = 332.74 / 1000.0;
+    a3 = 0 / 1000.0;
+    d4 = 432.09 / 1000.0;
+    d6 = 53.34 / 1000.0;
+
 [1] Corke, P. I., & Armstrong-Helouvry, B. (1994). A search for consensus among model parameters reported for the PUMA\n560 robot. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1608–1613. http://doi.org/10.1109/ROBOT.1994.351360

 [2] Armstrong, B., Khatib, O., & Burdick, J. (1986). The explicit dynamic model and inertial parameters of the PUMA 560 arm. Proceedings. 1986 IEEE International Conference on Robotics and Automation, 3, 510–518. http://doi.org/10.1109/ROBOT.1986.1087644

Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:32 -0000

--- v4
+++ v5
@@ -1,6 +1,9 @@
-Welcome to the libkine wiki!
+# Welcome to the libkine wiki!

-# Puma Robot
+
+# Examples
+
+### Puma Robot

 Looking into several existing literatures on Puma Robot, the proposed model parameters vary from one literature to another literature. A very interesting work has been done by Corke et al [1] to investigate several reported model parameters of a Puma robot.

Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:32 -0000

--- v3
+++ v4
@@ -11,7 +11,7 @@
     0    0        0    0
     0    -M_PI_2  d2   0
     a2   0        d3   0
-    a3    M_PI_2   d4   0
+    a3   M_PI_2   d4   0
     0    -M_PI_2  0    0
     0    M_PI_2   0    0

@@ -25,6 +25,8 @@

 All units used here are in meters.

+However, a 3D model of Puma robot was found in the this [https://grabcad.com/library/robot-puma-560/files](link). The numerical data of the parameters above are then modified to follow the available 3D model. Nevertheless, the differences are considerably small.
+
 [1] Corke, P. I., & Armstrong-Helouvry, B. (1994). A search for consensus among model parameters reported for the PUMA\n560 robot. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1608–1613. http://doi.org/10.1109/ROBOT.1994.351360

 [2] Armstrong, B., Khatib, O., & Burdick, J. (1986). The explicit dynamic model and inertial parameters of the PUMA 560 arm. Proceedings. 1986 IEEE International Conference on Robotics and Automation, 3, 510–518. http://doi.org/10.1109/ROBOT.1986.1087644

Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:32 -0000

--- v2
+++ v3
@@ -6,26 +6,23 @@

 In libkine, we follow Armstrong model as described in [2].

-`
-a   alpha     d   theta
-------------------------
-0    0        0    0
-0    -M_PI_2  d2   0
-a2   0        d3   0
-a3    M_PI_2   d4   0
-0    -M_PI_2  0    0
-0    M_PI_2   0    0
-`
+    a   alpha     d   theta
+    ------------------------
+    0    0        0    0
+    0    -M_PI_2  d2   0
+    a2   0        d3   0
+    a3    M_PI_2   d4   0
+    0    -M_PI_2  0    0
+    0    M_PI_2   0    0

 where

-`
-d2 = 243.5 / 1000.0
-d3 = -93.4 / 1000.0
-a2 = 431.8 / 1000.0
-a3 = -20.3 / 1000.0
-d4 = 433.1 / 1000.0
-`
+    d2 = 243.5 / 1000.0
+    d3 = -93.4 / 1000.0
+    a2 = 431.8 / 1000.0
+    a3 = -20.3 / 1000.0
+    d4 = 433.1 / 1000.0
+
 All units used here are in meters.

 [1] Corke, P. I., & Armstrong-Helouvry, B. (1994). A search for consensus among model parameters reported for the PUMA\n560 robot. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1608–1613. http://doi.org/10.1109/ROBOT.1994.351360

Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:32 -0000

--- v1
+++ v2
@@ -1,8 +1,33 @@
-Welcome to your wiki!
+Welcome to the libkine wiki!

-This is the default page, edit it as you see fit. To add a new page simply reference it within brackets, e.g.: [SamplePage].
+# Puma Robot

-The wiki uses [Markdown](/p/libkine/wiki/markdown_syntax/) syntax.
+Looking into several existing literatures on Puma Robot, the proposed model parameters vary from one literature to another literature. A very interesting work has been done by Corke et al [1] to investigate several reported model parameters of a Puma robot.

-[[members limit=20]]
-[[download_button]]
+In libkine, we follow Armstrong model as described in [2].
+
+`
+a   alpha     d   theta
+------------------------
+0    0        0    0
+0    -M_PI_2  d2   0
+a2   0        d3   0
+a3    M_PI_2   d4   0
+0    -M_PI_2  0    0
+0    M_PI_2   0    0
+`
+
+where
+
+`
+d2 = 243.5 / 1000.0
+d3 = -93.4 / 1000.0
+a2 = 431.8 / 1000.0
+a3 = -20.3 / 1000.0
+d4 = 433.1 / 1000.0
+`
+All units used here are in meters.
+
+[1] Corke, P. I., & Armstrong-Helouvry, B. (1994). A search for consensus among model parameters reported for the PUMA\n560 robot. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1608–1613. http://doi.org/10.1109/ROBOT.1994.351360
+
+[2] Armstrong, B., Khatib, O., & Burdick, J. (1986). The explicit dynamic model and inertial parameters of the PUMA 560 arm. Proceedings. 1986 IEEE International Conference on Robotics and Automation, 3, 510–518. http://doi.org/10.1109/ROBOT.1986.1087644

Home modified by Auralius Manurung

Auralius Manurung — Tue, 04 Oct 2016 20:25:31 -0000

Welcome to your wiki!

This is the default page, edit it as you see fit. To add a new page simply reference it within brackets, e.g.: [SamplePage].

The wiki uses Markdown syntax.

Project Members:

Auralius Manurung (admin)