A meta-study of PUMA 560 dynamics: A critical appraisal of literature data

摘要

Summary The paper presents a meta-study of the kinematic, dynamic and electrical parameters for the PUMA 560 robot. Parameter values which have been reported in the literature are transformed into a single system of units and coordinates, and differences in the data and measurement techniques are discussed. New data have been gathered and are presented where the record was incomplete.