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基于MATLAB Robotics Toolbox的ABB IRB1660机器人运动仿真研究

上一篇 / 下一篇  2017-09-18 01:51:19

为验证ABB IRB1660机器人改装为空间点焊机器人后的运动性能,根据ABB IRB1660机器人空间结构图,使用D-H参数法对其进行参数设计,在MATLAB中建立仿真模型,调用Robotics Toolbox中的功能函数对该机器人的正、逆运动学进行仿真计算,验证了仿真模型的正确性。最后调用jtraj函数对该机器人进行PTP轨迹规划仿真分析,仿真结果表明:改装后机器人各关节运动性能良好,运动曲线平稳无振动。该研究为ABB IRB1660工业机器人改装试验提供了可靠的理论指导。In order to verify the motion performance of ABB IRB1660 robot modified into space spot welding robot, according to the spatial structure of ABB IRB1660 robot, the parameter design is carried out by DH parameter method. The simulation model is established in MATLAB, and the function function in Robotics Toolbox is called. The positive and inverse kinematics of the robot are simulated and verified, and the correctness of the simulation model is verified. Finally, the jtraj function is used to simulate the PTP trajectory of the robot. The simulation results show that the motion of the joints is good and the motion curve is smooth and no vibration. The study provides reliable theoretical guidance for the ABB IRB1660 industrial robots retrofit test. 

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