Software for control and dynamic simulation of Unimate PUMA 560 robot

摘要

BackgroundThe use of industrial robots became identifiable as unique devices in the 19609s, along with computer aided design (CAD) systems, and computer aided manufacturing (CAM) systems.Presently, the robots characterize the latest trends in automation of the manufacturing process [60].New disciplines of engineering, such as manufacturing engineering, applications engineering, and knowledge engineering are beginning to deal with the complexity of the field of robotics and the larger area of factory automation.Within a few years, it is possible that robotics engineering will stand on its own as a distinct engineering discipline.A robot can be considered as a computer controlled industrial manipulator, operating under some degree of autonomy.Such devices are extremely complex electromechanical systems whose analytic description requires advanced methods which present many challenging and interesting research problems.The official definition of such a robot comes from the Robot Institute of America (RIA): A robot is a reprogrammable multlfinctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the peformance of a variety of tasks.The key element in this definition is the reprogrammability of robots.It is the computer brain that gives the robot its utility and adaptability.The so-called robotics revolution is, in fact, part of the larger computer revolution.There are many other applications of robots in areas where the use of humans is impractical or undesirable.Among these are undersea and planetary exploration, satellite retrieval and repair, the defusing of explosive devices, and work in radioactive environments.Finally, prostheses, such as artificial limbs, are themselves robotic