Simulation and modelling of 6-degree of freedom STEP SD 700 industrial robot follow-up on a given trajectory

摘要

This paper presents modelling and simulation of 6-degree of freedom (DOF) articulated robot by follow-up, on a given curve trajectory. The robot kinematical model is implemented on STEP SD 700 industrial robot, manufactured by Shanghai STEP Robotics Co., Ltd China. In this research, are going to make a Matlab based application. That will aid user to pick an object (weighing under its carrying capacity) from position “A” and place at position “B” (within robot working range). The user could able to design its work path / trajectory to safe 3M (Man, Machine and Material) by avoiding obstacles and collisions in the congested industrial environments. A fully functional mathematical modelling is constructed and implemented in Matlab R2015a, while robot mechanical structure modeling is developed in PTC Parametric Creo 3.0 software.