The simulation‐based analysis of any robotic system has emerged broadly in the past few years for application in educational and research enhancement. Currently, many simulation tools are available for different research areas on robotics with some advantages and limitations. In this study, the methodology of creating a web‐based graphical user interface is proposed for motion simulations and kinematic study of industrial robotic manipulators. It describes simple and straightforward modeling techniques using Web Graphics Library for creating any three‐dimensional virtual model of the robots within an HTML canvas for its motion simulation and different kinds of analysis. The positional kinematic study of the programmable universal machine for assembly 560 (PUMA 560) industrial robot through the developed interface is presented here, which helps in understanding the whole framework and can be implemented quickly for any other simulation system development. An essential aspect of the kinematic study of these serial chain robots is inverse kinematic analysis demonstrated with PUMA 560 robot with all the possible solutions. Finally, the interface is connected to an actual system following web‐based communication architecture for remote control of the actual PUMA robot.

中文翻译：

---

用于 3D 建模、运动学研究和机器人操纵器控制的基于 Web 的集成 GUI

在过去几年中，任何机器人系统的基于仿真的分析已经广泛应用于教育和研究增强。目前，许多仿真工具可用于机器人的不同研究领域，但具有一些优点和局限性。在这项研究中，提出了创建基于 Web 的图形用户界面的方法，用于工业机器人机械手的运动模拟和运动学研究。它描述了简单而直接的建模技术，使用 Web 图形库在 HTML 画布中创建机器人的任何三维虚拟模型，用于其运动模拟和不同类型的分析。此处介绍了通过开发的接口对可编程万能装配机 560 (PUMA 560) 工业机器人进行位置运动学研究，这有助于理解整个框架，并且可以为任何其他仿真系统开发快速实施。这些串联链机器人运动学研究的一个重要方面是用 PUMA 560 机器人演示的逆运动学分析和所有可能的解决方案。最后，该接口按照基于 Web 的通信架构连接到实际系统，用于远程控制实际 PUMA 机器人。