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Kinematics and Inverse Kinematics of A SCARA Robot: Topics

The document provides information about kinematics and inverse kinematics of SCARA robots. It discusses the steps to determine the link coordinate diagram for a SCARA robot arm and derive the arm matrix. It then shows how to use the arm matrix to solve for the inverse kinematics and determine the joint variables (q1, q2, q3, q4) and tool-roll angle. Specifically, it shows that q2 is determined by the elbow joint position, q1 and q3 are determined using simultaneous equations from the arm matrix, and q4 is determined by the tool-roll angle definition.

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anujagraj
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228 views

Kinematics and Inverse Kinematics of A SCARA Robot: Topics

The document provides information about kinematics and inverse kinematics of SCARA robots. It discusses the steps to determine the link coordinate diagram for a SCARA robot arm and derive the arm matrix. It then shows how to use the arm matrix to solve for the inverse kinematics and determine the joint variables (q1, q2, q3, q4) and tool-roll angle. Specifically, it shows that q2 is determined by the elbow joint position, q1 and q3 are determined using simultaneous equations from the arm matrix, and q4 is determined by the tool-roll angle definition.

Uploaded by

anujagraj
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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9.

Kinematics and
Inverse Kinematics of a
SCARA Robot
Topics
Be able to

. find the kinematics and inverse


kinematics of robot arms containing
revolute and prismatic joints.

. explain the difference between the


global-tool-roll angle and the tool-roll
angle.

Ref: Schilling, pp. 68-71, 96-100. Fall2004


The SCARA Robot

Adept One (one type ofSCARA robot) uses a


direct drive system,

The Link Coordinate Diagram

Step 0: Number the joints from 1 to n,

Step 1: Assign La
to the base

~..,.
Step 2: Align Zkwith the axis of joint k+ 1,

Step 3: Since Zkand Zk-ldo not intersect locate


Lk at the intersection of Zkwith a common
normal between Zkand Zk-l.

Step 4: Since Zkand Zk-lare parallel, point Xk


away from Zk-l

Step 5: Add yk to form a right-handed


coordinate system.
Step 6: (done for all k)
Step 7: Origin of L4 is at the tool tip. Align Z4
with the approach vector, y4 with the sliding
vector,

So far,
,~I x')0

).-
I Joint k
I Link k
3

? 1/ -,.)
I
- -
L/:" ,. .," y.-1
.

\f
O
°f.-. . X.-1
,
"1.',( !'f
Joint k + 1

d's are translations along z


a.
a's are translations along x
.
-. \ tv.... .Link
k .".}"7 x'
es satisfy R-H rule
ex's are rotations about x Joint k
\
Joint variables are
y',.. z'
q= Tool
roll '.
d, "

..
...

The Arm Matrix

tool C8k -Ca.,!)8k Sa.,!)8ka.j:8k

T - r10 T2123r3 r4 Tk-l


k
= I
S8k
0
Ca.kC8k
Sa.k
-Sa.kC8k
Ca.k
a,!)8k
dk

base 0 0 0 1

c 1-2-4 S1-2-4 0 : alCl +a2Cl-2

Sl-2-4 -Cl-2-4 0 : alSl +a2Sl-2


Ttool
base =I 0 0 -'1: dl-q3-d4

0 0 0 1
Inverse Kinematics
Use the arm matrix to find the tool
configuration vector for the SCARA robot.

Solution

w(q) ==

Now isolate the joint variables, qI' Q2,q3 and Q4'

Elbow Joint W12 + W22 should only be a


function of q2 Vertical
Elbow extension

c+-:>°2 ~

lal~~1 X2

y2'l2 I
[I
Z d3
Tool 04 ~3
v', T,' roll .-;.
d1 C--L.::> 01
-+
Z3 d4
L
y4

XO
R"""
2 2 2 2

elbow joint (cont) Ans. qz =:I:COS-IWI +W2 -al -~


2aIaz
.

[ ]
W2+W2=
1 2

Inverse kinematics solution is not unique.


Base Joint Ans. qi =atan2[aZSZwl+(al +azCz}wZ,(al+aZC2)wI-azSzwz]

Solve the simultaneous equations for ql now


that you know q2,

WI = alCI + a2CI-2 =
W2 = alSI + a2S1-2=
Solve for C1 and Sl using Cramer's rule,

(al +a2C2)w2 +a2S2wI


S =
I 2 2
(al + a2C2) + (a2S2)
ql =atan2[Sl' C1] =

Def. I x>O tan-l (y/x)


atan2(y,x) i
= x =0 [sgn(y)J n/2
x<O tan -ley/x) + [sgn(y)Jn

atan2(y,x) =tan-l(y/x) while keeping track 0


what quadrant y and x are in.
Finding the Prismatic Joint Variable
Ans. q3 =d1 -d4 -W3

Tool-Roll Angle Ans. q4 = 1tm Iw61

Global-Tool-Roll Angle

Recall the arm matrix; specifically, the rotation


matrix, Ans. q4=ql-q2 -ql-2-4

CI-Z-4 SI-Z~4 0 : alCI +azCI-Z

SI-Z-4 -CI-Z-4 0 : alSI +aZSI-Z


taal
Tbase = I 0 0 -1: . dI - q3 - d4
'"

0 0 0 : 1
Video Examples
Walking Machines
1. Ambler, Carnegie Mellon University.

2. ROBICEN III: Compact Wall-Climbing


Robot, Centro de Estudios e Investigaciones
Tecnicas de Guipuzcoa.

3. Flexible Micro-actuators for Walking


Robots

4. Passive Dynamic Walking

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