Puma560 joint limit performance

[toc tic]

Could not  find the limit performance of puma560  as above in the paper "A Search for Consensus Among Model Parameters Reported for the PUMA 560 Robot"

Does  any body got the accurate of the joint limit of puma560?

[toc tic]

could anybody  get the limit performance parameters of puma560 from the book "Robot Manipulators: Modeling, Performance Analysis and Control"

在 2013年11月2日星期六UTC+8下午9时43分25秒，toc tic写道：

[Peter Corke]

What do you mean by limit?  Limits of joint angles, limits of velocity, acceleration??

--
You received this message because you are subscribed to the Google Groups "Robotics & Machine Vision Toolboxes" group.
To unsubscribe from this group and stop receiving emails from it, send an email to robotics-tool-...@googlegroups.com.
To post to this group, send an email to robotics...@googlegroups.com.
Visit this group at http://groups.google.com/group/robotics-tool-box.
For more options, visit https://groups.google.com/groups/opt_out.

[toc tic]

apparently , the limit performance of the puma560  consist of  the joint velocitys，accelerations and jerks.  Just as the table describe.

Guess what,  the joint torque limit  could be calculate from the motor toque and the gear ratio.

While the joint velocity and acceleration is just given  by somehow.

I  GUESS  the joint v. and a. should also be calculate frome the motor  parameters  and the ratio.

in  this  way,  the robot motion parameters could be  optimized.

在 2013年11月3日星期日UTC+8上午8时29分53秒，Peter Corke写道：

[Peter Corke]

It's a complex problem, and speed depends a lot on the robot pose.  Motor torque which accelerates the joint is mostly used to fight friction and gravity, and is ultimately limited by the power amplifier and motor power rating.  Speed is also limited by motor back EMF.  Most of the inertia parameters are not that influential on robot performance.

Bottom line, it's a complex thing to figure out.

I looked at this in depth for a Puma 560 robot, see VISUAL CONTROL OF ROBOTS: - Peter Corke

peter