Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja

undergraduate thesis

• Title (english): Kinematics of 6DOF Robot ABB IRB2600
• Author: Ivan Ratković
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Ante Zglav (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Robot ABB IRB2600 je robot sa šest rotacijskih zglobova i ima široku primjenu u industriji. Upravljanje takvim robotima nije jednostavno. Kako bi se ostvarilo upravljanje potrebno je napraviti direktnu i inverznu kinematiku robota. Direktna kinematika je jednostavna jer Denavit i Hartenberg postupak daje sustavno rješenje. Inverzna kinematika nema sustavan postupak pa postoji više metoda. Inverzna analitička kinematika daje 8 rješenja, ali to nisu sva pa je potreban i numerički postupak. Numerički postupak ima mnogo metoda jer svaka metoda ima svoje prednosti i mane. Numerička metoda daje samo jedno rješenje. Napravljene su 3 metode inverzne numeričke kinematike: inverzni Jacobijan, pseudo inverzni Jacobijan i pseudo inverzni Jakobijan s optimizacijskim kriterijem. Metode daju slične rezultate koji dosta ovise i o početnim i o željenim konfiguracijama robota te o samim postavkama parametara u metodi.

Abstract (english)

ABB IRB2600 robot is robot with six rotational joints and has wide industrial application. Control of the robot is not simple. Definition of direct and inverse kinematics is needed to achieve control. Direct kinematics are not complicated because Denavit and Hartenberg procedure give systematic solution. Inverse kinematics do not have systematic solution and that is why there are many different procedures. Inverse analytical kinematics give 8 solutions, but there are more, so numerical procedures are also needed. Numerical procedures have many methods with different advantages and faults. Numerical method gives only one solution. Three methods of inverse numerical kinematics are tested: inverse Jacobian, pseudoinverse Jacobian and pseudoinverse Jacobian with explicit optimization criterion. Methods give similar solutions. Solutions are dependent on initial and ending configurations of the robot and also on initial parameters of the method.

• Keywords: direktna kinematika; inverzna kinematika; ABB IRB2600; 6R manipulator; kinematika
• Keywords (english): direct kinematics; inverse kinematics; ABB IRB2600; 6R manipulator; kinematics
• Language: croatian
• URN:NBN: urn:nbn:hr:168:592134
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-14 00:22:35