Solving Position Kinematics of ABB IRB140 Industrial Robot and its Motion Planning

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.

Keywords:

Robot manipulators , Direct and inverse , kinematics , Motion planning , Homogeneous transformation matrix