Table 1: Kinematic characteristics of PUMA 560 robot.

Joint123456

Minimum angle (°)−160.0−215.0−45.0−140.0−100.0−266.0
Maximum angle (°)160.035.0225.0140.0100.0266.0
Maximum velocity (°/s)82.054.0122.0228.0241.0228.0