Direct and Inverse Kinematics of an ABB IRB 120 Industrial Robot

    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

    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.

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