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Kinematic model of the scorbot 4PC manipulator implemented in Matlab's

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Article  in  Contemporary Engineering Sciences · January 2018

DOI: 10.12988/ces.2018.8112

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 Contemporary Engineering Sciences, Vol. 11, 2018, no. 4, 183 - 199
HIKARI Ltd, www.m-hikari.com
https://doi.org/10.12988/ces.2018.8112

Kinematic Model of the Scorbot 4PC Manipulator

Implemented in Matlab’s Guide
Jorge Luis Aroca Trujillo

Industrial Engineer, University Corporation of Huila - Corhuila

Neiva, Republic of Colombia

Ruthber Rodriguez Serrezuela

Industrial Engineer, University Corporation of Huila - Corhuila

Neiva, Republic of Colombia

Vadim Azhmyakov

Departament of Basic Sciences. Universidad de Medellı́n

Medellı́n, Republic of Colombia

Roberto Sagaro Zamora

Facultad de Ingenieria Mecánica. Universidad de Oriente

Santiago de Cuba, Cuba

Copyright c 2018 Jorge Aroca, Ruthber Rodriguez, Vadim Azhmyakov and Roberto
Sagaro. This article is distributed under the Creative Commons Attribution License, which
permits unrestricted use, distribution, and reproduction in any medium, provided the orig-
inal work is properly cited.

Abstract
This paper will discuss the development and implementation of the
direct and inverse kinematics models with five degrees of freedom manip-
ulator robot (5 D.O.F) Scorbot ER 4PC , under an interface designed
in Matlab. For the analysis of the Direct Kinematic Model (DKM),
parameters and homogeneous transformation of Denvit Hartenverg are
used, and for the Inverse Kinematic Model (IKM) an algebraic solution
is used, which must be manipulate directly the equations found in DKM.
These models are processed in Matlab, where they will have a graphical
184 Jorge Aroca, Ruthber Rodriguez, Vadim Azhmyakov and Roberto Sagaro

interface developed in Guide. This allows the theory verification and at

the same time it can modify the joint variables values as well as modify
the position and orientation of the end effector (gripper).

Keywords: DKM, IKM, Scorbot, Matlab

1 Introduction
A manipulator robot, consist in a open kinematics conformed by links, con-
nected to each other by joints. These joints allow to make different movements
around the axis of the joint, thus the tool (end effector) can perform a task.
In order to achieve movements in a controlled way, the direct kinematics
are modeled first. This seeks to know the position and orientation of the robot
end effector, based on the variables values of each joint and the characteristics
used for its construction. In this article, it will be performed a mathematical
analysis, to find the DKM, which uses the homogeneous transformations and
the parameters of Denavit - Hartenberg (parameter DH, Table 2).
In addition, an algebraic solution is proposed which allows to find the
inverse kinematics, consequently, this model provides the values that each
joint must take from the position and orientation of the end effector of the
manipulator robot.
All above mentioned, provide the kinematic models, which are implemented
through an interface made in Matlab’s Guide. This interface allows monitoring
and controlling the joint, cartesian and rotation variables of the manipulator.

2 Hardware description
The structure is composed only of rotational joints (configuration of anthropo-
morphic geometry) where the second and third articulations are parallel and
successively are orthogonal to the first. It can reach any position accurately,
hence its versatility and preference in industries (Figure 1).
It has five (5) Degrees Of Freedom (D.O.F). Each of D.O.F. is a joint that
has a Pittman engine model GM9413G608 with a rotary encoder attached
to this, and a micro-switch sensor [4, 9, 13]. It posses a power system with
a motor driver (H-bridge), controlled by an Arduino Mega 2560, which is in
constant communication with the interface deloped in Matlab.
Kinematic model of the scorbot 4PC manipulator 185

Figure 1: Manipulator robot Scorbot ER 4PC

3 Kinematic models description

3.1 Direct Kinematic Model - DKM
The direct kinematic model seeks examine the position and orientation of the
end effector of the robot (Figure 2), based on the values of the variables of
each joint and the constructive parameters of the elements that compose it [1,
21, 17, 16]. To solve the DKM, the following methods are found:

Figure 2: Relation between Direct and Inverse Kinematics.

• Geometric Method: Geometric relationships that define the position

and location of the final effector are sought. This method is suitable for
robots with few degrees of freedom.

• Homogeneous transformation matrices: A matrix T of dimension

4x4 is constructed as a representation of a coordinate system that has
been rotated and/or transferred with respect to another, so that it groups
186 Jorge Aroca, Ruthber Rodriguez, Vadim Azhmyakov and Roberto Sagaro

all the implicit parameters in the location of the final effector with respect
to robot base.
• Quaternion method: It consists in a group of four elements that rep-
resents an extension of the complex numbers and that allows to describe
the rotation of the robot through q = [w, x, y, z] notation.
• Euler angles method: It allows to describe the rotations through any
set of Euler angles.

In this work the mathematical analysis will be developed through the

method of homogeneous transformations. For this it will be deepened and
used, the standard description method of Denavit-Hartenberg (DH) [7], [3],
[12], [22].
In order to find the matrices that describe joint positions, it is necessary to
determine the four Denavit - Hartenberg parameters (ai , αi , di and θi ) which
where three of them are constant values and the fourth is a variable that
depends exclusively on the type of joint that owns the robot: if θ is rotational
and d is prismatic (Figure 3, Table 1) .
The parameters magnitudes that represent the movements and which can
be seen graphically in figure 3, are described in table 1.

ai Distance from Ẑi−1 a Ẑi measured along X̂i−1

αi Angle between Ẑi−1 a Ẑi measured around X̂i
di Distance from X̂i−1 a X̂i measured along Ẑi
θi Angle between X̂i−1 a X̂i measured around Ẑi−1

Table 1: Denavit-Hartenberg parameters list.

After obtaining the data of each movement, it will be proceed to determine

the homogeneous transformational matrices through equation 1 [19, 14, 24].
cθ −sθ .cα sθ .sα a .cθ 
 i i i i i i i
sθ cθ .cα −cθ .sα a .sθ

i i i i i i i 
i Tstandar d =  0
i−1  (1)
 sαi cαi di 
 0 0 0 1 


Where, the successive multiplication of several homogeneous transforma-

tion matrices that describing the G.O.F., form the kinetic equations of the
5 G.O.F. manipulator: 05T =01 T.12T.23T.34T.45T [23]. This matrix is comprised
of the sub-matrices that describe the rotation, translation, transformation of
perspective and scaling of the end effector, as it is observed in equation 2.
" #
Rotation3 x 3 Translation3 x 1
i Tstandar d =
i−1
(2)
Per spective1 x 3 Scaling1 x 1
Kinematic model of the scorbot 4PC manipulator 187

Figure 3: Denavit-Hartenberg kinematic parameters (? ).

For robotic applications, the perspective and scaling submatrices are a null
vector and the value of one (1), respectively.

3.2 Inverse Kinematic Model - IKM

This model provides the values that each joint must take based on the position
and orientation of the end effector of the manipulator robot (Figure 2). There
are three methods to find inverse kinematics:

• Geometric Method: It allows to obtain the articular variables values,

starting from trigonometric and geometric relations that intervene in the
coordinates of the extreme of the manipulator robot (the joint variables
and physical dimensions the robot).

• Kinematic decoupling method: By means of kinematic decoupling,

the degrees of freedom of position and orientation of the end effector can
be solved independently.

• Algebraic solution method: Directly manipulated are the equations

found in the direct kinematic model that analytically establishes the
following relation:

u v w p 
 x x x x
0 −1 u y v y w y py 

1
5 T = 1 T .
0 −1 1
5 T =1 T . u v w p  (3)
 z z z z
0 0 0 1

 
188 Jorge Aroca, Ruthber Rodriguez, Vadim Azhmyakov and Roberto Sagaro

As detailed in equation 3, it is premultiplied by the inverse matrix of 01T

to obtain 15T, then clear one by one the joint variables[8, 18, 11].
An algebraic solution based on the DKM will be used to find the IKM , as
shown above.

4 Mathematical modeling of the manipulator

robot Scorbot
For manipulators of several degrees of freedom as is the case of Scorbot, a
systematic method is proposed based on the use of matrices of homogeneous
transformation. Generally a robot of n degrees of freedom is formed by n links
joined by n joints, where each pair of linkage constitutes a degree of freedom
to have five degrees. Each link can be associated with an individual reference
system, and using the homogeneous transformations, it is possible to represent
the relative rotations and translations between the different links that make
up the robot[2].

Figure 4: Assignment of standard Denavit-Hartenberg coordinate systems.

4.1 Direct Kinematics

In order to find the Direct Cinematic Model [6], it is used the equation 1 and
the standard Denavit-Hartenberg parameters presented in matrix 1.
Kinematic model of the scorbot 4PC manipulator 189

The base is assigned as zero (0) which is a frame of reference, the first
articulation or first degree of freedom as one (1) and the last articulation or last
degree of freedom, the value of 5, so that it increases in one each articulation
up to the fifth degree of freedom (Figure 4).
Denavit-Hartenberg parameters are found ai , αi , di and θi (Table 1). Then
the calculations are performed to find the transformations, from equation 1,
which can be observed in equations 4,5,6,7 and 8. The contractions of the
trigonometric functions reduce the size of the matrices, hence it is chosen to
display them as shown below: sin(θ 1 ) = s1 , cos(θ 1 ) = c1 and sin(θ 2 + θ 3 + θ 4 ) =
s234 .
The DH parameters showed in the theoretical bases are extracted (Table
1), resulting the Table 2.

i ai αi di θi
1 d2 −π/2 d1 θ1
2 d3 0 0 θ2
3 d4 0 0 θ3
4 0 −π/2 0 θ4
5 0 0 d5 θ5

Table 2: Denavit-Hartenberg parameters for the Scorbot-ER.

c 0 −s1 d 2 .c1  c −s 0 d 3 .c2 

 1  2 2
 s1 0 c1 d 2 .s1  (4) s c 0 d 3 .s2 
 
=  2 2
2T =  0
0 1
1 T (5)
 0 −1 0 d1   0 1 0 
 0 0 0 1 
  0 0 0 1 


c −s 0 d 4 .c3  c 0 −s4 0

 3 3
 4
s c 0 d 4 .s3   4 0 c4
s 0
 
 3 3
3T =  0 4T =  0 −1
2 3
(6) (7)
 0 1 0   0 0
 0 0 0 1 
  0 0 0 1


c −s 0 0 
 5 5
s c 0 0 

 5 5
5T =  0
4
(8)
 0 1 d 5 
 0 0 0 1 

190 Jorge Aroca, Ruthber Rodriguez, Vadim Azhmyakov and Roberto Sagaro

Based on the values obtained in equations 4, 5, 6, 7 and 8, successive mul-

tiplications are performed 01T.12T.23T.34T.45T, to find the transformation matrix
0T, thus:
5

c .c .c + s .s −c .c .s + s .c −c .s
1 234 c1 .(d 4 .c23 + d 3 .c2 − d 5 .s 234 + d 2 ) 

 1 234 5 1 5 1 234 5 1 5
0T =  s 1 .c234 .c5 − c1 .s 5 −s 1 .c234 .s 5 − c1 .c5 −s 1 .s 234 s 1 .(d 4 .c23 + d 3 .c2 − d 5 .s 234 + d 2 ) 

5  −s234 .c5 s234 .s5 −c234 d 1 − d 4 .s23 − d 3 .s2 − d 5 .c234 
(9)
0 0 0 1
 
 

4.2 Inverse kinematics

To find the IKM, the algebraic equation method is used. therefore, the equa-
tion 15T =10 T50Tg is solved, where 15T represent the homogeneous transformation
seen from link one (1) to five (5), 10T in the inverse of the transformation 01T
view from the reference coordinate to link one (1) y 05Tg to the generic homoge-
neous transformation of the manipulator (equation 10). The first two variables
are found from the process of obtaining the DKM [20].
u v w p 
 x x x x
u v w p

y y y y 
5T =1 T.2T.3T.4T.5T = u
0 0 1 2 3 4  (10)
 z v z w z pz 
 0 0 0 1 
It is pre-multiplied by the inverse matrix 01T −1 =10 T to obtain 15T:
 c s1 0 −d 2  u x v x w x px 
 1
0 0 −1 d 1  u y v y w y py 
 
5T =0 T.5T = −s
1 1 1  (11)
 1 c1 0 0  u z v z w z pz 
 0 0 0 1   0 0 0 1 
 

This multiplication results in the matrix:

 u .c + u .s v x .c1 + v y .s1 w x .c1 + w y .s1 px .c1 + py .s1 − d 2 

 x 1 y 1
−u z −v z −w z −pz + d 1

1T =  (12)
5 −u .s + u .c −v .s + v .c −w .s + w .c −px .s1 + py .c1 

x 1 y 1 x 1 y 1 x 1 y 1
0 0 0 1
 
 
This equation has the following expressions:
[θ 1 ]: !
py
θ 1 = atan (13)
px
[θ 5 ]:
u x .s1 − u y .c1
!
θ 5 = atan (14)
v x .s1 − v y .c1
Kinematic model of the scorbot 4PC manipulator 191

[θ 3 ]: From equation 15 is obtained two possible values of θ 3 , which succes-

sively allows to find two solutions for θ 2 .
p
± 1 − cos2 (θ 3 ) +
θ 3 = atan * (15)
, cos(θ 3 ) -
Where,
k 2 + k22 − d 42 − d 32
cos θ 3 = * 1 + (16)
, 2.d 4 .d 3 -
k1 y k2 :
k 1 = px .c1 + py .s1 − d 2 + d 5 .s234 (17)
k 2 = −pz + d 1 − d 5 .c234 (18)
Where, [θ 234 ] is equal to:
!
−u z
θ 234 = atan (19)
u x c1 + u y s1

[θ 2 ]: It is important to highlight that at this point two possible values are

found, due to there are two values for θ 3 , therefore, there are two different
values for sine and cosine (c2 , c2 ∗, s2 y s2 ∗).
!
s2
θ 2 = atan (20)
c2
For the values of s2 and c2 is obtained:
k1 .(d 4 .c3 + d 3 ) + k 2 .d 4 .s3
c2 = (21)
d 42 + d 32 + 2.d 4 .d 3 .c3
k 2 .(d 4 .c3 + d 3 ) − k 1 .d 4 .s3
s2 = (22)
d 42 + d 32 + 2.d 4 .d 3 .c3
Then, θ 2 will have two (2) results that are found from the values of θ 3 ,
as mentioned above. In this way two (2) possible solutions (θ 2 con θ 3 and θ 2∗
with θ 3∗ ) are obtained to the problem of the inverse model. These solutions
represent the configurations commonly known as elbow up and elbow down
(Figure 5).
[θ 4 ]: Lastly:
θ 4 = θ 2 + θ 3 − θ 234 (23)
The selection of these values is determined by the configuration which is
selected in the IKM of the robot. For this case, the manipulator would operate
with an elbow up configuration, which means that in the algorithm to be
developed would take the values that parameterize this configuration.
192 Jorge Aroca, Ruthber Rodriguez, Vadim Azhmyakov and Roberto Sagaro

(a) Elbow up. (b) Elbow down.

Figure 5: Configuration elbow up and down the Scorbot manipulator.

5 Results obtained
5.1 Software
To reproduce the manipulator movement in a screen, a simulator in three (3)
dimensions was implemented, which is isexecuted from the computer by means
of the variables that are given by the acquisition system. The robot model was
implanted based on the bookstores of Peter Corke [5]. The commands that
are listed below:
L ( 1 )=Link ( [ 0 325 25 − p i / 2 ] ) ;
L ( 2 )=Link ( [ 0 0 222 0]) ;
L ( 3 )=Link ( [ 0 0 222 0]) ;
L ( 4 )=Link ( [ 0 0 0 −pi / 2 ] ) ;
L ( 5 )=Link ( [ 0 135 0 0]) ;
RR=S e r i a l L i n k (L , ’ name ’ , ’ S c o r b o t ’ ) ;
q=[0 0 0 0 0 ] ;
RR. p l o t ( q )

Figure 6 shows the environment that was developed in Matlab. This in-
terface has the ability to modify the direct kinematics and the inverse of the
robot manipulator in real time.
The environment provides the inverse kinematics, if the values of direct
kinematics are being varied, and vice versa, direct kinematics can be visualized
if reverse kinematics is being modified. The implementation in Matlab of the
kinematic models that perform this work, can be visualized below:
Kinematic model of the scorbot 4PC manipulator 193

Figure 6: Interface developed of Guide de Matlab.

Direct Kinematic Model - DKM

S1=s i n ( q1 ) ; C1=c o s ( q1 ) ; S2=s i n ( q2 ) ; C2=c o s ( q2 )
S5=s i n ( q5 ) ; C5=c o s ( q5 ) ; S234=s i n ( q2+q3+q4 ) ;
C234=c o s ( q2+q3+q4 ) ; S23=s i n ( q2+q3 ) ; C23=c o s ( q2+q3 )
P11=(C1∗C234∗C5) +(S1∗S5 )
P12=(−C1∗C234∗S5 ) +(S1∗C5)
P13=−(C1∗ S234 )
P14=C1 ∗ ( ( d4∗C23 ) +(d3∗C2) −(d5∗ S234 )+d2 )
P21=(S1∗C234∗C5 ) −(C1∗S5 )
P22=(−S1∗C234∗S5 ) −(C1∗C5)
P23=−(S1∗ S234 )
P24=S1 ∗ ( ( d4∗C23 ) +(d3∗C2) −(d5∗ S234 )+d2 )
P31=−S234 ∗C5
P32=S234 ∗S5
P33=−C234
P34=d1 −( d4∗ S23 ) −(d3∗S2 ) −(d5∗C234 )

T05=[P11 P12 P13 P14

P21 P22 P23 P24
P31 P32 P33 P34
0 0 0 1]

Inverse Kinematic Model - IKM:

Ux=T05 ( 1 ) ; Vx=T05 ( 5 ) ; Wx=T05 ( 9 ) ; Px=T05 ( 1 3 ) ;
Uy=T05 ( 2 ) ; Vy=T05 ( 6 ) ; Wy=T05 ( 1 0 ) ; Py=T05 ( 1 4 ) ;
Uz=T05 ( 3 ) ; Vz=T05 ( 7 ) ; Wz=T05 ( 1 1 ) ; Pz=T05 ( 1 5 ) ;
194 Jorge Aroca, Ruthber Rodriguez, Vadim Azhmyakov and Roberto Sagaro

d1 =325; d2 =25; d3 =222; d4 =222; d5 =135;

q1=atan2 ( Py , Px )
q5=atan2 (( −( −Ux∗S1+Uy∗C1) ) ,( −( −Vx∗S1+Vy∗C1) ) )
q234=atan2 (( −Uz/C5) , ( Ux∗C1+Uy∗S1 ) /C5)
K1=Px∗C1+Py∗S1−d2+d5∗ S234
K2=−Pz+d1−d5∗C234
q3=a c o s ( ( K1ˆ2+K2ˆ2−d4ˆ2−d3 ˆ 2 ) / ( 2 ∗ d3∗d4 ) )
S2=(K2∗d4∗C3+K2∗d3−K1∗d4∗S3 ) / ( d4ˆ2+d3ˆ2+2∗d3∗d4∗C3)
S2=round ( S2∗ r e d ) / r e d
C2=(K1∗d4∗C3+K1∗d3+K2∗d4∗S3 ) / ( d4ˆ2+d3ˆ2+2∗d3∗d4∗C3)
q2=atan2 ( S2 , C2)
q4=q2+q3−q234

Where, the variables q1, q2, q3, q4 and q5, represent the five (5) joints
that the Scorbot has, and T05 represents the transformation matrix of the
manipulator robot, from the base to the final effector. These variables can be
observed at the interface as the Waist, Shoulder, Elbow, Wrist and Gripper
rotation, in the case of DKM. And as articular positions (X, Y, Z) and angles
Roll (δ) , Pitch( β) and Yaw (ρ) in case for IKM, better known as RPY angles
[10]. These last angles are obtained by performing a transformation of the sub-
matrix of T05, corresponding to the rotation sub-matrix or P11, P12, P13, P21,
P22, P23, P31, P32 and P33 positions, using the tr2r py(matrix (3 x 3) ) command
created by Peter Corke.

5.2 Workspace
The manipulator robot Scorbot, being an anthropomorphic robot, provides a
wide region of operation of the end effector. Its volume of work is limited by
the length of its links and the articular limitations that has the manipulator
(Figure 7).
Physically, this workspace indicates the positions that the manipulator tool
can reach, without exceeding the above- mentioned limitations.The Scorbot
ER 4PC robot can reach most of the positions in a radius less than or equal
to 604 mm, compared to the base.

5.3 Motions
Once developed the interface that allows to monitor and control the robot,
some tests of the behavior of some points reached during the trajectory were
realized. These points shown in figure 8 describe the path taken on the coor-
dinate axes X, Y y Z.
Figure 9 illustrates the joint behavior produced by the Cartesian movement
shown in Figure 8.
Kinematic model of the scorbot 4PC manipulator 195

Figure 7: Workspace of the manipulator Scorbot ER 4PC Robot.

Figure 8: Movement in coordinate axes X, Y and Z

6 Conclusions
In this research, from the Denavit-Hartenberg parameters the mathematical
model of direct and inverse kinematics is established, this allows the devel-
opment of the interface to monitor and control the articular and cartesian
variables of the robot Scorbot manipulator.
The kinetic model was corroborated in the simulated tests, by means of
196 Jorge Aroca, Ruthber Rodriguez, Vadim Azhmyakov and Roberto Sagaro

Figure 9: Articular movement of the figure 8.

the external measurement of the location of the final effector, which allowed
to compare the desired positions with those actually generated by the robot
(Figure 8).
The two solutions of inverse kinematics are identified for the same cartesian
coordinate, when the robot has a position different than the fully vertical or
horizontal, which in this case would generate a single configuration. These
solutions refer to the elbow up and elbow down configurations (Figure 5).
Figure 6 shows the GUI window for one of the applicaction that used to
interface whit human. The received data is read and shown in this interface,
to wilt be moritoring

Conflict of Interests
The authors declare that there is no conflict of interests regarding the publi-
cation of this paper.

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Received: February 5, 2018; Published: February 25, 2018

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