KINEMATICS FOR THE SCARA AND THE CYLINDRICAL MANIPULATORS

摘要

Kinematics analysis is divided into: forward and inverse kinematics. For- ward kinematics showed how to determine the end-effector position and orientation in terms of the joint variables. The problem of inverse kinematics is tond the joint vari- ables in terms of the end-effector position and orientation. The Jacobian presents the relation between the joint and the end effector position velocities. The paper shows the kinematics of the SCARA robot with four degrees of freedom, the four degrees are dif- ferent from others. The paper shows the kinematics of the cylindrical robot with three degrees of freedom. Keywords: Kinematics, SCARA manipulator, Cylindrical manipulator