This passage takes ABB IRB460060 industrial robot as the object of study, using the DH rule to establish the kinematics coordinate system of robot, then deduce the kinematics equation and the positive and inverse solutions of the robot are obtained by combining the structural parameters of the robot. The kinematics of robot is modelled and simulated by using MATLAB Robotics Toolbox. It provides a reliable theoretical basis for the development of robot offline programming system.
展开▼
