摘要1954年，第一台电子可编程机器人在美国诞生，从此，机器人不再是捷克小说家的科学幻想，而成为众多科学家和工程师奋斗终生的目标。历经50多年的发展，国外的机器人技术和应用逐渐成熟，并造就了安川、松下、KUKA、ABB、iRobot等一批著名的机器人公司。如今，机器人已成为自动化生产线、柔性制造系统中必不可少的单元，2004年底全球在役的工业机器人超过100万台，2005年增长率达到创记录的30%，其中亚洲机器人增长幅度高达43%，2007年全球新安装工业机器人的数量超过十万套。机器人的研究和应用远没有停止，而是以日新月异的速度向智能化、模块化和系统化的方向发展，其应用领域也从传统的制造业向建筑、农业、防灾、医疗、宇宙、海洋开发等领域，甚至是娱乐、家庭服务等与人类活动密切相关的领域拓展。
然而，机器人技术是集机构学、电子技术、计算机技术、传感技术、控制论、人工智能和仿生学等多学科于一体的高新技术.由于基础制造技术、多学科交叉融合以及产业化推动等诸多因素的影响，我国虽在1972年即开始研制工业机器人，但至今没有形成品牌，国内的工业机器人装备也主要依赖进口。因此，无论是在理论和技术上跟踪国际先进水平，还是在应用上服务国内制造业，进一步研究机器人的关键共性理论和技术，找到制约机器人国产化的核心问题和解决方案，都具有非常重要的意义。20380
本文以自主研制的ABB机器人IRB 120作为载体，通过理论研究和实验验证相结合的方式，系统深入地研究了ABB机器人的运动学，并为ABB机器人的开发应用提供一套有效的理论和技术解决方案。
毕业论文关键字：ABB机器人、运动控制、PID控制
Method to study the motion of ABB robot control
ABSTRACT
In 1954, the first electronic programmable robot born in the United States since then, robots are no longer science fiction novelist Czech Republic, and many scientists and engineers struggle to become a lifelong goal. After 50 years of development, robotics and application of foreign gradually matured and created a Yaskawa, Panasonic, KUKA, ABB, iRobot robots and a number of well-known companies. Today, robots have become automated production lines, flexible manufacturing systems essential units in service worldwide by the end of 2004 more than one million units of industrial robots in 2005, the annual growth rate reached a record 30%, with Asia robot increase of up to 43% , the number of newly installed worldwide in 2007 more than 100,000 sets of industrial robots. Research and application of robots far not stopped, but in the ever-changing speed to intelligent, modular and systematic direction, its applications from traditional manufacturing to construction, agriculture, disaster prevention, medical, cosmic ocean development and other fields, even fields closely related to human activities and entertainment, family services expand.
However, robotics is a set of institutions, electronics technology, computer technology, sensor technology, cybernetics, artificial intelligence, and bionics and other high-tech multi-disciplinary Because basic manufacturing technology, multi-disciplinary integration and to promote industrialization, etc. influenced by many factors, although our country began in 1972 to develop industrial robots, but has not formed brands, domestic equipment, industrial robots are mainly dependent on imports. Thus, both in theory and technology to track the international advanced level, or services in the application of the domestic manufacturing industry, further research robot key common theories and techniques to identify constraints robot localization of core issues and solutions, have a very important significance.
In this paper, independently developed the ABB IRB 120 robot as a carrier, through theoretical studies and experimental validation combination, the system in-depth study of the ABB robot kinematics, and provides an effective technology solutions for the development of the theory and application of ABB robots solution. ABB机器人运动控制方法研究+文献综述:http://www.751com.cn/zidonghua/lunwen_12140.html