Development of ABB IRB 120 robot bartender

Chong, Jing Yang (2021) Development of ABB IRB 120 robot bartender. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In the era of globalisation, an industrial robot is more than just a mechanical arm but also a combination of controller and software commitment. The robot is widely used in automation, and the potential in developing another area is huge due to artificial intelligence being a trend. The feature of the industrial robot can create high quality, complicated geometric routes, as well as the various size of an object with the right end of the arm tool and programming. In this study, the development of IRB 120 is simulated from human action obtained from a motion capture technology. It will be programmed in RobotStudio to mimic human trajectory based on bartending, which is the process of shaking an object. In this study, the human motion trajectory is captured in skeletal view by Microsoft Kinect V2, a camera sensor connecting to pc and running in MATLAB software. In MATLAB, the Microsoft Kinect V2 can capture 25 joint points at one frame per second (fps) and export each joint point's Cartesian coordinates (x, y, z) for analysis. Each joint point represents the respective body part, and the joint point for the hand is intent in this study. With the position data obtained from Kinect, proceed to implement the data to IRB 120 in RobotStudio and program the motion to act like a human arm. Last, the configuration of the gripper as an end effector of the robot to hold the object with the sensor become a smart mechanism.

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