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 Direct and Inverse Kinematics of an ABB IRB 120 Industrial Robot


Author Topic:  Direct and Inverse Kinematics of an ABB IRB 120 Industrial Robot  (Read 7878 times)

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April 28, 2012, 12:52:40 PM
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ilian.bonev


Hello,

The second part of this lecture of mine, https://cours.etsmtl.ca/gpa546/Notes/L6L7.pdf, shows in great detail how to solve the direct and inverse kinematics of a typical 6-axis serial robot, the ABB IRB 120 industrial robot. It even shows how the confdata is calculated (in ABB, a string of four integers is used to specify the robot configuration for a given end-effector pose). I hope you will find this useful.

Ilian
Professor at the ÉTS, Montreal, Canada
http://www.youtube.com/GPA546

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=9758.0

Today at 12:26:53 PM
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May 02, 2012, 12:04:17 PM
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OliveRobot


Very interesting :merci:
I will learn a lot of that document! :D
« Last Edit: November 08, 2013, 09:24:16 AM by OliveRobot »

June 24, 2014, 03:13:49 AM
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photon

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Hi Professor Ilian,

I know this is an old post but I hope you're still following it.

The link you provided is broken but I was able to find the new presentations. I do not understand French but they are still very useful since I can follow the mathematics. However the text is very valuable as well and I was just wandering if you happen to have English versions?

Thanks,
Joe.

July 30, 2014, 08:22:07 PM
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Robo Guru



August 24, 2014, 07:13:19 AM
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photon

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The main manual is here;
https://cours.etsmtl.ca/gpa546/

But I think he takes the presentations off and reposts them each year as the course progresses.

May 25, 2018, 10:06:55 AM
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lamchithong


Hi professor, i'm studying about the IRB-120, i'm stuck at Inverse kinematics. Can you please repost the doccument please. Below is my doccument solving the inverse kinematics. However , it isnt correct because the values of theta are not equal to 0. Can u please take a look at it. i'm really appreciated. Thank you.

https://drive.google.com/drive/folders/1dhTY2Tb5FtQ09m2IHwHUCQLl7Sgpn8yI

December 14, 2018, 03:22:31 AM
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spy14414



Today at 12:26:53 PM
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