سال انتشار: ۱۳۸۸

محل انتشار: دومین کنفرانس ملی مهندسی برق

تعداد صفحات: ۶

نویسنده(ها):

Abbas Chatraei – Faculty of Mechatronics, Technical University of Liberec, Czech Republic

چکیده:

Usually, the robot manufacturers don’t present the detailed parameters of kinematics and dynamics of their robots. In this paper, the results of
solving direct and inverse position kinematics problem for an industrial robot manipulator, i.e. IRB ABB 140 industrial robot, is presented. Moreover, a motion planning algorithm for this industrial robot is offered. However, this algorithm can be generalized for other industrial robots with 6 degrees of freedom. This motion planning algorithm generates a smooth motion in the joint space.