SIMULATION AND CONTROL OF PUMA 560 ROBOT MANIPULATOR

Authors

  • Ibrahim N. Jleta Jleta
  • Abdulftah M. Shmila Shmila

Abstract

 In the present paper, a development and realization of MATLAB/SIMULINK software models for simulation of complete PUMA560 robot is described to using for teaching of robotics and nonlinear systems subjects. In addition, it could be used for simulation and validation tool during designing of robot control systems where, designing an efficient controller for such systems is a challenging task. The performance of the software tool, computed torque control (CTC) controller is investigated for trajectory tracking problem of PUMA560 six joints. Simulation results show the effectiveness of the controller when the all parameters of dynamic model are modeled for trajectory tracking, steady state and RMS errors.

Keywords—PUMA560, kinematic, dynamic, trajectory generation, computed torque control (CTC)

Published

2026-04-14

How to Cite

Jleta, I. N. J., & Shmila, A. M. S. (2026). SIMULATION AND CONTROL OF PUMA 560 ROBOT MANIPULATOR. ـJournal of Engineering Research and Applied Science, 1(7), 9–21. Retrieved from https://ceh.edu.ly/JERAS/index.php/j/article/view/74

Issue

Vol. 1 No. 7 (2019): مجلة البحوث الهندسية والعلوم التطبيقية ( العدد 7 )

Section

المقالات