Workspace Analysis and Simulation of Industrial Robot Based on MATLAB

Abstract

This paper discusses the method of solving forward and inverse kinematics of industrial robot in the simulation environment of MATLAB with Robotics toolkit. In order to prove the correctness of the solution of forward and inverse kinematics, we determine the final position of the given joint angle with forward kinematics first, and then use the final position result to determine the inverse kinematics. This paper includes discussion and simulation of joint space, displacement of each joint, angler velocity, smooth angler acceleration of robot. We divide the borderline of robot workspace on the XZ surface into five arcs, and generate arc borderline of the robot workspace. This paper proposes the nested loop method to determine the solution of robot workspace, since the calculated result is identical as the provided robot workspace from ABB (the robot company), we can prove the effectiveness and reliability of using MATLAB to solve robot workspace.