FORWARD AND INVERSE KINEMATIC ANALYSIS AND VALIDATION OF THE ABB IRB 140 INDUSTRIAL ROBOT

Authors

  • Mohammed Almaged

DOI:

https://doi.org/10.2022/jmet.v9i2.1230

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 (  that define each frame relative to the previous one. While, to develop the kinematics that calculates the required joint angles ( 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.

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References

ABB. (2000). IRB 140 M2000 Product Specification. Retrieved December 01, 2015 http://www.abb.com

Carter, T. J. (2009). The Modeling of a Six Degree-of-freedom Industrial Robot for the Purpose of Efficient Path Planning. The Pennsylvania State University.

Craig, J. J. (2005). Introduction to robotics: mechanics and control: Pearson/Prentice Hall Upper Saddle River, NJ, USA:.

Jazar, R. N. (2010). Theory of applied robotics (Vol. 1): Springer.

Pires, J. N. (2007). Industrial robots programming: building applications for the factories of the future: Springer.

Spong, M. W., Hutchinson, S., & Vidyasagar, M. (2006). Robot modeling and control (Vol. 3): Wiley New York.

Vicente, D. B. (2007). Modeling and Balancing of Spherical Pendulum Using a Parallel Kinematic Manipulator.

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Published

2017-12-26

Issue

Vol. 9 No. 2

Section

Others

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