Kinematics Analysis and Simulation of ABB Robot Based on MATLAB

2019 International Conference on Intelligent Computing, Automation and Systems (ICICAS) Pub Date : 2019-12-01 DOI:10.1109/ICICAS48597.2019.00196

Wei Shen, Hongjia Cheng

引用次数: 1

Abstract

In order to better control the robot for precise operation, taking ABB IRB 1410 robot as an example, the structure and connecting rod parameters of D-H representation are used to analyze, the forward and inverse solutions of the robot are obtained by MATLAB, and its kinematics is analyzed. Finally, the workspace of the robot is calculated by MATLAB software, and the trajectory of the robot's end manipulator is planned.

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基于MATLAB的ABB机器人运动学分析与仿真

为了更好地控制机器人进行精确操作，以ABB IRB 1410机器人为例，采用D-H表示的结构和连杆参数进行分析，通过MATLAB得到机器人的正解和逆解，并对其进行运动学分析。最后，利用MATLAB软件对机器人的工作空间进行计算，并对机器人末端机械手的运动轨迹进行规划。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 International Conference on Intelligent Computing, Automation and Systems (ICICAS)

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