The main purpose of this project is to designing, building, and controlling one of the most widely used industrial robots on the market. Puma can be found in almost any working environment where agility as well as precision and strength are an issue.
In this project we designed a three degree of freedom model with three joint and three stepper motor, and we applied all theories of kinematics and dynamics on it, which are the essential basics to built any industrial robots with six degree of freedom, we designed the model in the CATIA® software, then we analyzed it to find Denavit Hartenberg, after that we used geometric method to determine the inverse kinematics for our manipulator, finaly we found the Jacobians matrix.
We have used the C++ software to write a program that can control our manipulator.