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

摘要

Industrialrobots have been extensively used in various industrial applications due to anumber of advantages such as accuracy and speed in performing tasks. To achievecomplex applications with industrial robots, sophisticated controllers shouldbe developed; henceforth, precise model of the industrial robots must beobtained by using multibody modelling softwares. The purpose of this paper isto create an ABB IRB120 industrial robot representation for simulating andanalyzing dynamics and kinematics of the industrial robots by using MapleSim.In addition, this paper presents how linear and nonlinear models of the robotcan be obtained and makes available them to public. Therefore, it will bepossible to design linear and nonlinear controllers for ABB IRB 120 industrialrobot by using the developed models, without requiring any multibody modeling