Simulating 6-DOF ABB 1600-X1.2 Industrial Manipulator
The purpose of this project was to develop the understanding of the concepts covered in the Robot Dynamics course at WPI. This learning experience included the development of software models of a popular 6-link industrial robot, the ABB IRB 1600, using the same dimensions and parameters of the actual hardware.
Once the concepts of forward and inverse kinematics were understood, the software model was manipulated to perform the predetermined desired function of writing the word “HAT” on a planar surface. The simulation can write alphabets in any language, if the library used to generate trajectories have the code to generate the alphabets of the language. The result of this experiment was a success, and the ABB robotic manipulator was able to move on the desired trajector