本项目为归档项目包，不再更新维护，该项目可作为机器人相关专业 的本科生和研究生进行学习和参考的资料。 项目首先对PUMA560机械臂的基本结构和参数进行了介绍，对其运动学特性进行了分析并给出了正逆运动学的完整算法。其次，建立了PUMA560的三维模型，制作了机器人的URDF网格可视化文件，并在Simulink中开发了机械臂的可视化仿真框架。最后，分别基于关节空间和笛卡尔空间对机械臂进行了轨迹规划并在Simulink中实现了典型轨迹的可视化仿真。
☆86Dec 17, 2024Updated last year
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