Grasping control of PUMA 560 based on path planning

In this paper, the grasping control of PUMA 560 is researched. Different from traditional modeling methods, with the aid of the coordinate frames established by D-H method, the dynamics model of PUMA 560 is established by using the Lagrangian mechanics. Given the appropriate starting point (end point), grasp point and place point, the expected trajectory is designed by path planning. Load mass mutation increases the difficulty of controller design. Switching control is expected. Based on the established model, by using the common Lyapunov function, a switching controller is designed to make PUMA 560 grasp the object along the expected trajectory. The simulation results show the effectiveness of the control strategy.