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puma dynamics

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A meta-study of PUMA 560 dynamics: A critical appraisal of literature data
Peter I. Corke, Brian Armstrong-Hélouvry
Journal:

Robotica / Volume 13 / Issue 3 / May 1995

Published online by Cambridge University Press:

09 March 2009, pp. 253-258
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The paper presents a meta-study of the kinematic, dynamic and electrical parameters for the PUMA 560 robot. Parameter values which have been reported in the literature are transformed into a single system of units and coordinates, and differences in the data and measurement techniques are discussed. New data have been gathered and are presented where the record was incomplete.