Journal of Applied Science and Engineering

Published by Tamkang University Press

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Hatem Al-Dois This email address is being protected from spambots. You need JavaScript enabled to view it.1, A. K. Jha1 and R. B. Mishra2

1Department of Mechanical Engineering Indian Inst. of Tech., Banaras Hindu University, Varanasi, U. P., India
2Department of Computer Engineering Indian Inst. of Tech., Banaras Hindu University, Varanasi, U. P., India


 

Received: January 11, 2012
Accepted: September 5, 2012
Publication Date: June 1, 2013

Download Citation: ||https://doi.org/10.6180/jase.2013.16.2.09  


ABSTRACT


This paper describes an approach to develop the kinematic and dynamic models of IRB 6640-180-255, an industrial manipulator from ABB. Models’ parameters and constraints that characterize robot motion are extracted from manuals and tests on the same robot in ABB RobotStudio® environment. RobotStudio® is a software provided by the robot manufacturer and implements a virtual controller identical to the one impeded in the real robots. After building the robot models, the performance of the same robot installed in ElectroSteel Castings Ltd, Kolkata is simulated for a task of producing sand cores in a robotic workcell. The trajectory used for simulation is similar to the one used in the real robot motion. To insure that the robot movement is simulated without violating motion constraints given in the motion command, a task-time optimization is proposed where motion constraints are set to limits of joint positions, velocities, accelerations and torques. Finally, the overall task time is optimized by running the robot in maximum velocity and the optimized time is compared to the original task time. Modeling, simulation and task-time optimization are developed in MATLAB®.


Keywords: Modeling, Simulation, Task-Time Optimization, IRB 6640 Manipulator


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