PUMA Robot Arm Simulation

This is a term project for the 'Robot Engineering' course at the Seoul National University of Science and Technology(SEOULTECH).

Base codes are provided by Prof. Sooyoung Lee

I set up and analyzed the robot's coordinate axes according to the Denavit-Hartenberg Representation (D-H Notation)

To solve inverse kinematics, I use Pieper's approach

• First three joints : Algebraic approach
• Last three joints : Geometric approach

Work Condition

• VS 2019
• Reference model : PUMA 500 Robot Arm

Coordinate & DH Parameter

OpenGL Modeling

Key description

I made 5 kinds function in this simulation

Mode 1 : Move the coordinates of the end effector (X, Y, Z)

• E & Q : Increase(decrease) x by 5
• D & A : Increase(decrease) x by 5
• W & S : Increase(decrease) z by 5

Mode 2 : Rotate the angle of the end effector ($\theta_{4}$, $\theta_{5}$, $\theta_{6}$)

• Z & X : Rotate $\theta_{4}$ by 5
• C & V : Rotate $\theta_{5}$ by 5
• B & N : Rotate $\theta_{6}$ by 5

Mode 3 : Move the end effector to the inputted coordinates

• I : Receive input for X, Y and Z coordinates

Mode 4 : Rotate the end effector to the inputted coordinate

• O : Receive input for $\vec a$, $\vec o$ and $\vec n$

Mode 5 : Move and rotate the end effector to the inputted coordinate

• P : Receive input for X, Y, Z, $\vec a$, $\vec o$ and $\vec n$

Simulation

• Mode1
• Mode2
• Mode5