Kinematics Analysis and Simulation of 6R Industrial Robot

IRB 120 robot is a typical representative of 6R industrial robot. For IRB 120 robot, the kinematics analysis is carried out and a MATLAB GUI is designed for verification. Firstly, based on D-H method, the link-frame of IRB 120 robot is established and D-H parameters are got. Then, kinematics equations of IRB 120 robot are deduced, and based on algebraic method, the inverse kinematics solutions are obtained through the position and orientation separation method. Finally, the workspace is generated by Monte Carlo method. The result of kinematics solutions is shown by a MATLAB GUI. The effectiveness of inverse kinematics algorithm is verified by motion trajectory simulation.