Research Of ABB-IRB 2400/10 Robot's Trajectory Planning

This paper mainly research of trajectory planning of robot's end effector in coordinate system,is based on ABB-IRB 2400/10 industry robot's mechanism.The thesis also gives kinematics analysis on ADAMS software,the result of kinematics analysis directions robot manipulator process.The first build on ABB-IRB 2400/10 industry robot's coordinates system according to D-H method,including base coordinate,six rods coordinates,tool coordinate,work-piece coordinate and so on,the coordinates complied with the principle of more and more parameters value is zero.Then I built on transformation matrix on those coordinate systems. Those coordinates location and gesture oragical integraded.In the light of the equation of the robot's forward kinematics and inverse kinematics.According to inverse kinematics that we know the position of robot's end effectoris decided by three angles(θ1,θ2,θ3), the posture of robot's end effector is decided by three angles(θ4,θ5,θ6),these are the base of planning track.According to the position of robot's end effector is decided by three angles(θ1,θ2,θ3),planning robot's workspace before planning robot's end effector's trajectory, It was achieved with the help of modern software MATLAB.We got the robot's workspace picture, it image, clear, it also avoided singularity posture. Planning keys value about two letters"AB"in base coordinate, planning shutcut of route and the manipulate order.Calculate the time that robot's end effector tomove.Calculate the angle change in Interpolate.Then save the time and Interpolate in notebook.These works all prepared for simulation of ADAMS software.I drew the robot's model used CATIA for getting the imagic model drawings, then made them introduct ADAMS for simulation, restricted the model,all of these prepared for simulation.Setting parameters and starting simulation.the Process of simulation smooth.Then measured kinematics analysis,including angle velocity translation,angle acceleration translation, angle translation,then analysis the results and them directed actual mechanical process.The establishment of robotic process based on theoretical date.Through the test to examine the planning is right.The programming lines were unequally because the mechanical and control system inaccuracy. The phenomenon of test also influenced the simulation.Being good at combineing theory with practice.