Forward Kinematics of PUMA 560 Robot using DH Method

Abstract. In this paper, solve the forward and inverse kinematics solution of Programmable Universal Manipulation Arm (PUMA) 560 Robot.  PUMA 560 robot is the most popular robot in Research and Industry. It is 6 DOF robots having three revolute joints locate the end effector, and three joint gives the orientation to the end effector. One of the main concerns among robotic and control engineers is positioning the manipulator's End-effector to the most accurate place and transparent the effect of disturbance and errors which will effect on manipulator's final result. As a matter of fact, controlling manipulators are hard and expensive because they are multi-input, multi-output, time variant and non-linear, so it has been a topic for researchers to design the most efficient controller to help the manipulator to achieve the desired expectation under any circumstance.