This project presents the trajectory planning in the operational and joint space for ABB IRB- 140 robot manipulator. The task assigned to the manipulator is spilling beer from a bottle. Trajectory planning is based on a quintic polynomial that allows to obtain continuous velocity and acceleration of each joint variables of manipulator, used in the joint space and in the operational space to generate the required time laws for the primitive paths chosen. The identification of trajectory in the operational space and inverse kinematics algorithm is mandatory in order to obtain the joints position at each time instant. Video of the simulation is available on the following link: https://www.youtube.com/watch?v=FVfmU47fygc&ab_channel=TeamThor
venezia-antonio/Trajectory-Planning-for-ABB-IRB140
Trajectory planning for ABB IRB140 industrial manipulator using MATLAB and CoppeliaSim(VREP). The manipulator' task is to spill a bottle of beer
MATLAB