EENG428 Introduction to

Robotics

SCARA Manipulator

C4
S
A3 A4 4
0

S4
C4
0
0

0
0
0
0
1 d3 d 4

0
1

C12C4 S12 S 4
S C C S
12 4
A1 A2 A3 A4 12 4

C2 C4 S 2 S 4
S C C S
2 4
A2 A3 A4 2 4

S12C4 C12 S 4
C12C4 S12 S 4
0
0

S 2 C4 C2 S 4
C2C4 S 2 S 4
0

a1C1 a2C12
0 a1S1 a2 S12
1
d3 d 4

0
1

0
a2C2
0
a2 S 2
1 d3 d 4

0
1

Since the first joint is revolute: (Consider A1A2A3A4)

J11 C12C4 S12 S 4 a1S1 a2 S12 a1C1 a2C12 S12C4 C12 S 4
J11 C 1 2 4 a1S1 a2 S12 S 1 2 4 a1C1 a2C12
J11 a1 S 1 2 4 C1 S1C 1 2 4 a2 S 1 2 4 C12 S12C 1 2 4
J11 a1S 2 4 a2 S 4

J12 S 1 2 4 a1S1 a2 S12 C 1 2 4 a1C1 a2C12

J12 a1 S 1 2 4 S1 C1C 1 2 4 a2 S 1 2 4 S12 C12C 1 2 4
J12 a1C 2 4 a2C4

Since the first joint is revolute:

J 31 0
J 41 0
J 51 0
J 61 1

Since the second joint is revolute as well:

(Consider A2A3A4)

J12 a2 S 4
J 22 a2C4
J 32 0
J 42 0
J 52 0
J 62 1

The third joint is prismatic:

(Consider A3A4)

J13 0
J 23 0
J 33 1
J 43 0
J 53 0
J 63 0

The fourth joint is revolute:

(Consider A4)

J14 0
J 24 0
J 34 0
J 44 0
J 54 0
J 64 1

Hence

T4 dx a1S 2 4 a2 S4 a2 S 4
T4
dy a1C 2 4 a2C4 a2C4
T4 dz
0
0
T4
0
0
x
T4 y
0
0
T
1
1
4 z

0 0

0 0 d1

1 0 d 2

0 0 dd3

0 0 d 4

0 1

(Jacobian w.r.t base coordinate frame)

The Jacobian is given by

d J d
J dq

where

J d J d1

J J 1

J d 2 J dn

0 ai 1 0 pn 0 pi 1 for revolute joint i

J di
0
ai 1
for prismatic joint i

J 2 J n

0 ai 1 for revolute joint i

J i
for prismatic joint i
0

0 a2C12 a1C1
C12 S12
S

0
C
a
S
a
S
12
12
2
12
1
1

A1 A2
0

1
0
0

0
0
1
0

0 a2C12 a1C1
C12 S12
S
C12 0 a2 S12 a1S1
12

A1 A2 A3
0

1
d3
0

0
0
1
0

C 1 2 4 S 1 2 4 0 a2C12 a1C1

0
S
C
a
S
a
S

1
2
4
1
2
4
2
12
1
1

A1 A2 A3 A4

1
d3 d 4
0
0

0
0
0
1

 0 ai 1 0 pn 0 pi 1 for revolute joint i

J di
0
ai 1
for prismatic joint i

0 ai 1 for revolute joint i

J i
for prismatic joint i
0

First Joint is revolute

J d 1 0 a0 0 p4 0 p0
J 1 0 a0
0
0
a0 0
1

0
0
p0 0
0

a2C12 a1C1
0
p4 a2 S12 a1S1
d3 d 4

0 1 0 a2C12 a1C1 a2 S12 a1S1

J d 1 0 a0 0 p4 0 p0 1 0 0 a2 S12 a1S1 a2C12 a1C1
0 0 0 d3 d 4

0
0
J 1 0 a0 0
1

 0 ai 1 0 pn 0 pi 1 for revolute joint i

J di
0
ai 1
for prismatic joint i

0 ai 1 for revolute joint i

J i
for prismatic joint i
0

Second Joint is revolute

J d 2 a1
0

J 2

0 1 0 a2C12 a2 S12
p4 p1 1 0 0 a2 S12 a2C12
0 0 0 d3 d 4 0
0

0
a1 0
1
0

0
a1 0
1

a1C1
p1 a1S1
0

a2C12 a1C1
p4 a2 S12 a1S1
d3 d 4

 0 ai 1 0 pn 0 pi 1 for revolute joint i

J di
0
ai 1
for prismatic joint i

0 ai 1 for revolute joint i

J i
for prismatic joint i
0

Third Joint is prismatic

Jd3

0
0 a2 0
1

J 2

0
0 0
0

 0 ai 1 0 pn 0 pi 1 for revolute joint i

J di
0
ai 1
for prismatic joint i

0 ai 1 for revolute joint i

J i
for prismatic joint i
0

forth Joint is revolute

Jd 4

0 1 0 0 0
0 a3 0 p4 0 p3 1 0 0 0 0
0 0 0 d 4 0

J 4

0
a3 0
1

0
a3 0
1

a2C12 a1C1
p3 a2 S12 a1S1

d3

a2C12 a1C1
p4 a2 S12 a1S1
d3 d 4

Hence

0 0
dx a2 S12 a1S1 a2 S12
dy a C a C
d
0
0
a
C
2
12
1
1
2
12

1
dz
0
0 1 0 d 2

0
0
0
0
x

dd3

y
0
0 0 0 d 4

1
1
0
1
z

Tn
n

Tn

0
n
0