Input Panel
Instruction
  • PUMA 560 is a six degree of freedom robot manipulator

  • The absolute positioning of the joints motion is incorporated in this simulation

  • Here a constant RPM value of 25 is set for joint motion, which needs to be entered appropriately in the VAL command

Enter VAL Commands



Transformation Matrix

Simulator
VAL Command List
Commands Action
DO READY Takes the robot to home position from current location.
CALI Used for the calibration of robot.
DO DRIVE Used for moving individual joint.
DO DRIVE < JT >, < degrees >, < speed > Used to directly move a specified joint < JT > a specified number of degrees < degrees > and at a specified maximum speed < speed >.
DO DRIVE 1, 30, 25 Move joint-1 by 30º CCW with 25 rpm
DO DRIVE 2, -30, 25 Move joint-2 by 30º CW with 25 rpm
HERE P1 Save the current position of the end-effector as P1.
MOVE P1 Move the end-effector to point P1 from current position
HERE HOME Save the current position of the end-effector as HOME

Initilization Commands
        
VAL Command History