Kinematika robota ABB IRB2600 robota sa šest stupnjeva slobode gibanja

ABB IRB2600 robot is robot with six rotational joints and has wide industrial application. Control of the robot is not simple. Definition of direct and inverse kinematics is needed to achieve control. Direct kinematics are not complicated because Denavit and Hartenberg procedure give systematic solution. Inverse kinematics do not have systematic solution and that is why there are many different procedures. Inverse analytical kinematics give 8 solutions, but there are more, so numerical procedures are also needed. Numerical procedures have many methods with different advantages and faults. Numerical method gives only one solution. Three methods of inverse numerical kinematics are tested: inverse Jacobian, pseudoinverse Jacobian and pseudoinverse Jacobian with explicit optimization criterion. Methods give similar solutions. Solutions are dependent on initial and ending configurations of the robot and also on initial parameters of the method.