🤖 PUMA 560 Forward Kinematics Simulator

A Python implementation of forward kinematics and visualization for the PUMA 560 robotic manipulator using Denavit–Hartenberg (DH) parameters.

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📌 Overview

This project models the PUMA 560 industrial robot by implementing forward kinematics from first principles.

The simulator computes the pose of the robot end-effector using Denavit–Hartenberg parameters and demonstrates how joint movements influence the manipulator configuration.

The project is intended for robotics education and provides insight into industrial robot kinematics.

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✨ Features

• Forward Kinematics
• Denavit–Hartenberg Parameter Implementation
• End-Effector Pose Computation
• Robot Configuration Visualization
• Educational Robotics Simulation
• Pure Python Implementation

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🛠 Technologies Used

• Python
• Robotics Mathematics
• Denavit–Hartenberg Convention
• Matrix Transformations
• Homogeneous Coordinates

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📂 Project Structure

puma560-forward-kinematics/

├── puma560_demo.mp4
├── README.md
├── LICENSE
├── .gitignore
└── .gitattributes

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🎥 Demo

A demonstration video of the simulator is included.

puma560_demo.mp4

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🚀 Installation

Clone the repository

git clone <repository-url>

Run the project

python main.py

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📚 Concepts Covered

• Forward Kinematics
• Denavit–Hartenberg Parameters
• Homogeneous Transformation Matrices
• Coordinate Frames
• Robot Manipulators
• Industrial Robotics

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🎯 Applications

• Robotics Education
• Industrial Robot Simulation
• Engineering Mathematics
• Robot Motion Analysis
• Kinematics Learning

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🚀 Future Improvements

• Inverse Kinematics
• Trajectory Planning
• Jacobian Analysis
• Workspace Visualization
• 3D Interactive Simulation

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👨‍💻 Author

Yash Sarin

GitHub: https://github.com/sarinyash551-lgtm

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📄 License

MIT License