Research on trajectory optimization of handling robot based on ABB

In this paper, computer-aided design is used to program industrial robots with language programming. Taking ABB IRB1200 robot as the research object, the robot kinematics model is established according to the D-H method, and the robot space model, D-H parameters, and the forward and backward solution of the robot kinematics equation are verified by MATLAB. Then, according to the working requirements of industrial robots, trajectory planning and design of robot execution programs are carried out in Cartesian coordinate system and joint space coordinate system.