Abstract
The main goal of this paper is to derive the forward and inverse kinematic model of the ABB IRB 140 industrial manipulator. Denavit-Hartenberg analysis (DH) is presented to write the forward kinematic equations. Initially, a coordinate system is attached to each of the six links of the manipulator. Then, the corresponding four link parameters are determined for each link to construct the six transformation matrices (i - 1iT) that define each frame {i} relative to the previous one {i-1}. While, to develop the kinematics that calculates the required joint angles (θ1 - θ6), both geometrical and analytical approaches are used to solve the inverse kinematic problem. After introducing the forward and inverse kinematic models, a MATLAB code is written to obtain the solutions of these models. Then, the forward kinematics is validated by examining a set of known positions of the robot arm, while the inverse kinematics is checked by comparing the results obtained in MATLAB with a simulation in Robot Studio.
References
- R. N. Jazar, Theory of applied robotics vol. 1: Springer, 2010.
- M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot modeling and control vol. 3: Wiley New York, 2006.
- J. J. Craig, Introduction to robotics: mechanics and control: Pearson/Prentice Hall Upper Saddle River, NJ, USA:, 2005.
- J. N. Pires, Industrial robots programming: building applications for the factories of the future: Springer, 2007.
- T. J. Carter, "The Modeling of a Six Degree-of-freedom Industrial Robot for the Purpose of Efficient Path Planning," The Pennsylvania State University, 2009.
- D. B. Vicente, Modeling and Balancing of Spherical Pendulum Using a Parallel Kinematic Manipulator, 2007.
- ABB Robotics, IRB 140 M2000 Product Specification, Retrieved from http://www.abb.com/ on December 01, 2015.
Abstract
References
- R. N. Jazar, Theory of applied robotics vol. 1: Springer, 2010.
- M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot modeling and control vol. 3: Wiley New York, 2006.
- J. J. Craig, Introduction to robotics: mechanics and control: Pearson/Prentice Hall Upper Saddle River, NJ, USA:, 2005.
- J. N. Pires, Industrial robots programming: building applications for the factories of the future: Springer, 2007.
- T. J. Carter, "The Modeling of a Six Degree-of-freedom Industrial Robot for the Purpose of Efficient Path Planning," The Pennsylvania State University, 2009.
- D. B. Vicente, Modeling and Balancing of Spherical Pendulum Using a Parallel Kinematic Manipulator, 2007.
- ABB Robotics, IRB 140 M2000 Product Specification, Retrieved from http://www.abb.com/ on December 01, 2015.
Details
| Subjects | Engineering |
|---|---|
| Journal Section | Articles |
| Authors | |
| Publication Date | May 25, 2017 |
| Published in Issue | Year 2017 Volume: 7 Issue: 2 |