Abdullah Çakan, Fatih Mehmet Botsalı
VI International Conference Industrial Engineering and Environmental Protection 2016 (IIZS 2016) October, 2020, Zrenjanin, Serbia, Pages 274-277
Publication year: 2016


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.