Trajectory Planning and Simulation of Industrial Robot Based on MATLAB and RobotStudio

摘要

With IRB-1200 robot as the object of the research, this paper discusses the method of solving forward and inverse kinematics of industrial robot in the simulation environment of MATLAB. In order to prove the correctness of the solution of forward and inverse kinematics, we determine the final position of the given joint angle with forward kinematics first, and then use the final position result to determine the inverse kinematics. This paper includes discussion and simulation of joint space and Cartesian space of robot. It shows that the trajectory curves of the robot is smooth and continuous. In order to verify the feasibility of trajectory planning method in the simulation environment of MATLAB, the same model of the robot was built with RobotStudio and MATLAB. By comparing the straight and arc trajectory in RobotStudio as in MATLAB using the same space coordinates, we can prove the effectiveness and reliability of trajectory planning method of using MATLAB.