Kinematic Analysis and Validation of an Industrial Robot Manipulator

被引：0

作者：

Krishnan, Megha G. ^{[1
]}

Ashok, S. ^{[1
]}

机构：

[1] Natl Inst Technol, Dept Elect Engn, Calicut, Kerala, India

来源：

PROCEEDINGS OF THE 2019 IEEE REGION 10 CONFERENCE (TENCON 2019): TECHNOLOGY, KNOWLEDGE, AND SOCIETY | 2019年

关键词：

Forward Kinematics; Inverse Kinematics; IRB; 1200; RobotStudio; INVERSE KINEMATICS;

D O I：

10.1109/tencon.2019.8929712

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Robot kinematics deals with traits of redundancy, joint limitation, collision avoidance and singularity manifolds. Hence, kinematic analysis plays a vital role in the positioning task of a robot manipulator. This paper discusses the kinematic analysis to study and synthesize the motion of an ABB make IRB 1200 6DOF Industrial Robot Manipulator. The forward kinematic solution is calculated using DH parameters obtained from the main dimensions of the robot and its inverse kinematics is calculated purely algebraically. The results obtained are validated using ABB's official software, RobotStudio. The experimental studies are also done to verify the kinematic model developed.

引用

页码：1393 / 1399

页数：7

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