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Kinematics Analysis and Simulation of 6R Industrial Robot

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Advances in Guidance, Navigation and Control

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 644))

Abstract

IRB 120 robot is a typical representative of 6R industrial robot. For IRB 120 robot, the kinematics analysis is carried out and a MATLAB GUI is designed for verification. Firstly, based on D-H method, the link-frame of IRB 120 robot is established and D-H parameters are got. Then, kinematics equations of IRB 120 robot are deduced, and based on algebraic method, the inverse kinematics solutions are obtained through the position and orientation separation method. Finally, the workspace is generated by Monte Carlo method. The result of kinematics solutions is shown by a MATLAB GUI. The effectiveness of inverse kinematics algorithm is verified by motion trajectory simulation.

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Acknowledgements

This work is supported by National Natural Science Foundation of China (61973170, 51575283); National Key Research and Development Project (2017YFD0701201-02); College Students’ Enterprise and Entrepreneurship Education Program of NUIST (201910300308).

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Authors and Affiliations

  1. School of Automation, Nanjing University of Information Science & Technology, Nanjing, 210044, China

    Qiang Zang, Qing-hao Zhu, Zhuang Tu & Kai Zhang

  2. Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology, Nanjing, 210044, China

    Qiang Zang, Qing-hao Zhu, Zhuang Tu & Kai Zhang

Authors
  1. Qiang Zang
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  2. Qing-hao Zhu
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  3. Zhuang Tu
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  4. Kai Zhang
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Corresponding author

Correspondence to Qiang Zang .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Liang Yan

  2. Beihang University, Beijing, China

    Haibin Duan

  3. Beihang University, Beijing, China

    Xiang Yu

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© 2022 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Zang, Q., Zhu, Qh., Tu, Z., Zhang, K. (2022). Kinematics Analysis and Simulation of 6R Industrial Robot. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_328

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