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Abdullah Cakan

PhD, Visiting Scholar
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INVERSE KINEMATICS ANALYSIS OF A PUMA ROBOT BY USING MSC ADAMS

Journal article

Abdullah Çakan
2017
Semantic Scholar
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Cite

APA   Click to copy
Çakan, A. (2017). INVERSE KINEMATICS ANALYSIS OF A PUMA ROBOT BY USING MSC ADAMS.

Chicago/Turabian   Click to copy
Çakan, Abdullah. “INVERSE KINEMATICS ANALYSIS OF A PUMA ROBOT BY USING MSC ADAMS” (2017).

MLA   Click to copy
Çakan, Abdullah. INVERSE KINEMATICS ANALYSIS OF A PUMA ROBOT BY USING MSC ADAMS. 2017.

BibTeX   Click to copy 

@article{abdullah2017a,
  title = {INVERSE KINEMATICS ANALYSIS OF A PUMA ROBOT BY USING MSC ADAMS},
  year = {2017},
  author = {Çakan, Abdullah}
}

Abstract

This work presents a different approach to inverse kinematics analysis of a PUMA robot. PUMA robot is an industrial robot arm with open chain mechanism that is used in different purposes. PUMA robot has a complicated inverse kinematics expressions that needs to be solved. In this paper, the inverse kinematics problem is solved by using MSC ADAMS instead of knowing inverse kinematics expressions and calculating this expressions. PUMA robot multi-body dynamics model is built by MSC ADAMS and joint angles are derived for a circle-shaped trajectory. Used trajectory and derived joint angles are given in the form of the graphics.