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

Yıl 2017, Sayı: 1, 273 - 285, 09.11.2017

Onder Tutsoy İsmail Calikusu Sule Colak Orang Vahid Duygun Erol Barkana Fatma Gongor

Öz

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

Anahtar Kelimeler

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

Kaynakça

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