科技创新与应用2025，Vol.15Issue(16)：72-75,4.DOI:10.19981/j.CN23-1581/G3.2025.16.016
基于Matlab仿真分析Puma560的奇异位形
摘要
Abstract
Simulation experiments were carried out on the singular configurations of the Puma560 industrial robot under several typical structures using the Matlab robot toolbox.The operability of the robot arm under typical structures is vividly characterized and analyzed by a velocity ellipsoid.The influence of each joint on the end effector when the robot arm approaches the singularity is analyzed.Experiments have shown that when approaching the singular configuration,the effects of different joints on the end effector are not exactly the same;and,even in the singular configuration,the loss of the end effector's ability to rotate in a certain direction does not mean that the ability to move will also be lost.Using Matlab to do simulation analysis,the singular configuration of Puma560 can be well studied,and its analysis method is also suitable for other serial structure robotic arms.关键词
Puma560/Matlab仿真/雅可比矩阵/奇异点/速度椭球Key words
Puma560/Matlab simulation/Jacobian matrix/singularities/velocity ellipsoid分类
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蒋梦伊,覃晓璐,李泽昂,孙敬德,宁先龙,董桂梅,靳皓..基于Matlab仿真分析Puma560的奇异位形[J].科技创新与应用,2025,15(16):72-75,4.基金项目
天津市大学生创新训练计划项目(202310061127) （202310061127）
