DEVELOPING LINEAR AND NONLINEAR MODELS OF ABB IRB120 INDUSTRIAL ROBOT WITH MAPLESIM MULTIBODY MODELLING SOFTWARE

Abstract

Industrial robots have been extensively used in various industrial applications due to a number of advantages such as accuracy and speed in performing tasks. To achieve complex applications with industrial robots, sophisticated controllers should be developed; henceforth, precise model of the industrial robots must be obtained by using multibody modelling softwares. The purpose of this paper is to create an ABB IRB120 industrial robot representation for simulating and analyzing dynamics and kinematics of the industrial robots by using MapleSim. In addition, this paper presents how linear and nonlinear models of the robot can be obtained and makes available them to public. Therefore, it will be possible to design linear and nonlinear controllers for ABB IRB 120 industrial robot by using the developed models, without requiring any multibody modeling

Keywords

• Industrial robots,linear and nonlinear models,MapleSim,modelling,six-DOF ABB IRB120

References

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