摘   要

随着工业自动化的发展，机器人技术在各个领域的应用越来越广泛。对于ABB机器人，尤其是IRB 1600这种大型机器人，其轨迹规划的精准度和效率直接影响到生产线的效率。因此，对这类机器人的轨迹规划进行研究，有助于提高实际生产中的工作效率。机器人的轨迹规划涉及到复杂的运动学和动力学问题。对于大型机器人，如IRB 1600，其运动范围的广泛和工作负载的增加都为轨迹规划带来了挑战。研究如何优化其轨迹，不仅可以提高机器人的工作效率，还可以降低因不合理的轨迹规划导致的机械故障风险。

本文针对ABB-IRB 1600机器人进行深入的轨迹规划研究。在了解其基本结构的基础上，结合坐标变换、运动学和轨迹规划的理论，规划了机器人末端执行器的运动轨迹。利用RobotStudio软件，模拟了该轨迹规划过程，并对运动学进行了分析。通过D-H方法建立了机器人的连杆坐标系和变换矩阵，计算了工作空间。实验验证了规划的合理性和可行性，提高了机器人的工作效率，为机器人的编程提供了数据支持，并为操作机器人提供了理论指导。

此研究不仅局限于单一机器人的轨迹规划，还涉及到坐标变换、运动学等多个领域的知识。因此，此研究可以为相关领域的研究提供新的视角和方法，有助于推动相关领域的发展。通过对机器人轨迹的精确规划和运动学分析，可以为机器人的操作提供更具体的指导。这不仅可以帮助操作员更好地理解机器人的工作原理，还可以提高操作的安全性和准确性。

关键词：ABB机器人；轨迹规划；运动学分析；RobotStudio仿真；工作效率

ABSTRACT

With the development of industrial automation, robotics is more and more widely used in various fields. For ABB robots, especially large robots such as IRB 1600, the accuracy and efficiency of their trajectory planning directly affect the efficiency of the production line. Therefore, studying the trajectory planning of such robots can help to improve the work efficiency in the actual production. The trajectory planning of a robot involves complex kinematic and dynamics problems. For large robots, such as IRB 1600, both their wide range of motion and increased workload present challenges for trajectory planning. Studying how to optimize its trajectory can not only improve the work efficiency of the robot, but also reduce the risk of mechanical failure caused by unreasonable trajectory planning.

This paper conducts an in-depth trajectory planning study on the ABB-IRB 1600 robot. Based on the understanding of its basic structure combines the theory of coordinate transformation, kinematics and trajectory planning. Using RobotStudio software, the trajectory planning process was simulated and the kinematics were analyzed. The link coordinate system and the D-H method. The experiments verify the rationality and feasibility of the planning, improve the working efficiency of the robot, provide data support for the robot programming, and provide theoretical guidance for operating the robot. This study is not only limited to the trajectory planning of a single robot, but also involves many fields of knowledge, including coordinate transformation and kinematics.

Therefore, this study can provide new perspectives and methods for the research in related fields, and help to promote the development of related fields. The precise planning and kinematic analysis of the robot trajectory can provide more specific guidance for the robot operation. This can not only help the operator to better understand how the robot works, but also improve the safety and accuracy of the operation.

Key words: ABB robot; trajectory planning; kinematic analysis; RobotStudio simulation; work efficiency