Complete project ABB IRB 4600 Manipulator

Course Project Robotics(Mechanics and Control) Kinematics and Dynamics of ABB IRB 4600 Manipulator Waleed Abdulrahman Saleh Al-akwa'a 14/201

Abstract
The IRB 4600 is a pioneer of the sharp robot generation; with enhanced features and new capabilities. The design has been opti-mized to make it superior for the targeted applications. The IRB 4600 enables more compact manufacturing cells with increased production output and higher quality - and that means improved productivity.
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1. Introduction
The history of modern robotics has many milestones within the last decades. Already in 1954, George Devol designed the first programmable robot, called the Pro-grammed Article Transfer, Malone [10]. However, the applications of industrial robots did not explode before the 1970s and the 1980s.
ABB has the most comprehensive protection program on the market and it will be even further enhanced with the IRB 4600. Foundry Plus includes IP 67, re-sistant paint, rust protected mounting flange and pro-tection for molten metal spits on non-moving cables on the r ear of the robot and extra protection plates over the floor cable connections on the foo