Kinematics Analysis and Simulation of ABB Robot Based on MATLAB

摘要

In order to better control the robot for precise operation, taking ABB IRB 1410 robot as an example, the structure and connecting rod parameters of D-H representation are used to analyze, the forward and inverse solutions of the robot are obtained by MATLAB, and its kinematics is analyzed. Finally, the workspace of the robot is calculated by MATLAB software, and the trajectory of the robot's end manipulator is planned.