In this paper, the variations of joint angle parameters of a Puma robot arm with six degrees of freedom has been studied when the robot hand moves on a circular path. The present work focuses on the dependency of the joint parameters on the desired motion of the robot hand in two specific cases: (i) when the hand is moving with a uniform speed on a circular path in space, and (ii) when the hand is oscillating about a point on circular path. The joint level response shoes some interesting characteristics of the robot hand. For some vibratory movements, it is observed that the joint needs to be driven at twice the frequency of the desired oscillations of the hand.
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