摘要
根据ABB IRB4400机器人结构和D-H运动学模型,分析了ABB六轴工业机器人示教的过程,讨论了机器人示教运动的理论基础,论述了自动磨抛系统的工业机器人运行轨迹与速度、工件坐标与工具坐标等系统参数的设定方法。
The demonstration process of 6-axis ABB industrial robot was analysed based on the structure of ABB＇s IRB4400 robot and the D-H kinematics model. The theoretical basis of the robot＇s demonstration movement was discussed. The movement path and speed of the industrial robots used in the automatic grinding and polishing system were obtained. The setting method of system parameters for the work-piece coordinate and the tool coordinate were presented.
出处
《福建工程学院学报》
CAS
2011年第3期213-217,共5页
Journal of Fujian University of Technology
关键词
工业机器人
示教
自动磨抛系统
微动控制
工件坐标
工具坐标
industrial robot
demonstration
automatic grinding and polishing system
slight movement control
work-piece coordinate
tool coordinate
