ABB-IRB120 Robot Modeling and Simulation Based on MATLAB

摘要

A modeling and simulation experiment of robot handling process based on ABB-IRB120 is designed. In view of the inspection work of robot sorting state in the industrial processing process, the traditional inspection method is manual inspection, which is low efficiency, unable to supervise and prone to error. In order to solve the problems of manual inspection, the coordinate system and control equation of the handling robot ABB-IRB120 are established by the standard D-H parameter method. On the establishment of the robot movement model analysis of the forward and inverse solution of the robot, and then the trajectory planning of the robot is studied and calculated, through MATLAB software simulation of the trajectory of the robot, the robot each joint movement curve, the results of analysis, to achieve the kinematics simulation of the robot.