Development of a manipulator kinematic model using Abb Robot Studio

Abstract

The subject of the research in the article is the application of control technology and algorithms, construction of the trajectory of movements and interaction with the production environment based on Abb Robot Studio. The goal of the work is the simulation of a kinematic model of the manipulator, which will allow effective performance of actions in real time, using the mathematical calculations and the Abb Robot Studio software. The article addresses the following tasks: to analyze the current state of integration of manipulators into production processes, as well as to choose and substantiate the development platform and robot model, to develop a kinematic model and design and write software for controlling manipulators based on mathematical calculations. The use of mathematical analysis methods and the theory of automatic control to simulate the operation of an industrial robot, simulation methods – to check the operation of an industrial robot model in the ABB ROBOT STUDIO environment. The following results were obtained: an analysis of the current state of integration of manipulators into production processes, in particular in the era of Industry 4.0, was carried out, a manipulative robot was selected and substantiated, which satisfies the mathematical calculations carried out, a kinematic model was developed, and its design was carried out, software for controlling manipulators was developed based on the conducted mathematical calculations. Conclusions: a model and software module were developed for the adaptive execution of the production process as part of the virtual model of the ABB IRB 1200 robot, which allows to increase the efficiency of the roduction process, reduce downtime, and improve product quality. The optimization of trajectories and collision management allowed to reduce the maintenance and operation costs of the robot, which led to an overall reduction in production costs, which will also be reflected in long-term use. The developed software module allows the work to quickly adapt to changes in the production process, which provides high flexibility and the ability to quickly adjust to new tasks.

Keywords

• Industry 4.0, Abb Robot Studio, manipulator, robot, production, kinematic model, mathematical calculations