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Position Analysis and Joint Space Trajectory Planning for ABB IRB 7600 Robot


Affiliations
1 Government College of Technology, Coimbatore, India
2 Hindustan College of Engineering, Coimbatore, India
3 College of Engineering, Chengannur, Kerala, India
4 Manufacturing Engg., Government College of Technology, Coimbatore, India
     

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Kinematic analysis represents an important tool for the functional design of robotic applications. It facilitates the determination of layout arrangements for the production cell, the selection of suitable machines and equipments, the design of task specifications and robot paths and the performance of all the tasks required by the new robot manipulators. The computational complexity of the kinematics quite often prevents robotics instructors from using robots of general structure. This paper deals with the modeling of robot by using Denavit-Hartenberg parameters and solving for joint angles and tool tip pose by means of Robotic toolbox for MATLAB. The joint angles are considered for trajectory planning by using interpolation function. Robot used in this work is the ABB IRB 7600-400/2.55, a vertically articulated robot for pay load 400kg.
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  • Position Analysis and Joint Space Trajectory Planning for ABB IRB 7600 Robot

Abstract Views: 255  |  PDF Views: 0

Authors

P. K. Jayadev
Government College of Technology, Coimbatore, India
Shanmugha Sundaram
Hindustan College of Engineering, Coimbatore, India
A. P. Sudheer
College of Engineering, Chengannur, Kerala, India
M. Santhakumar
Manufacturing Engg., Government College of Technology, Coimbatore, India

Abstract


Kinematic analysis represents an important tool for the functional design of robotic applications. It facilitates the determination of layout arrangements for the production cell, the selection of suitable machines and equipments, the design of task specifications and robot paths and the performance of all the tasks required by the new robot manipulators. The computational complexity of the kinematics quite often prevents robotics instructors from using robots of general structure. This paper deals with the modeling of robot by using Denavit-Hartenberg parameters and solving for joint angles and tool tip pose by means of Robotic toolbox for MATLAB. The joint angles are considered for trajectory planning by using interpolation function. Robot used in this work is the ABB IRB 7600-400/2.55, a vertically articulated robot for pay load 400kg.