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  • Laboratory 3 Company 5

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    josephadrieloba
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    The document discusses the Jacobian matrix and velocity equation of a SCARA manipulator. It defines the Jacobian matrix as representing the partial derivatives of a robot's forward kinematics function, relating how end-effector velocity varies with joint velocity. It then provides the specific parameters and equations for a SCARA manipulator, including its rotation matrices, kinematic equations equated, and final velocity equation relating the time derivatives of positions and orientations to joint velocities and their time derivatives.

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    LABORATORY-3-COMPANY-5

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    The document discusses the Jacobian matrix and velocity equation of a SCARA manipulator. It defines the Jacobian matrix as representing the partial derivatives of a robot's forward kinematics function, relating how end-effector velocity varies with joint velocity. It then provides the specific parameters and equations for a SCARA manipulator, including its rotation matrices, kinematic equations equated, and final velocity equation relating the time derivatives of positions and orientations to joint velocities and their time derivatives.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    5 views8 pages

    Laboratory 3 Company 5

    Uploaded by

    josephadrieloba
    The document discusses the Jacobian matrix and velocity equation of a SCARA manipulator. It defines the Jacobian matrix as representing the partial derivatives of a robot's forward kinematics function, relating how end-effector velocity varies with joint velocity. It then provides the specific parameters and equations for a SCARA manipulator, including its rotation matrices, kinematic equations equated, and final velocity equation relating the time derivatives of positions and orientations to joint velocities and their time derivatives.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 8

    SCARA

    MANIPULATOR
    Jacobian matrix and velocity equation of
    scara manipulator

    Company 5
    Getting the Jacobian matrix
    The Jacobian matrix represents partial
    derivatives of a function with respect to its
    variables. Typically, the forward kinematics
    function in robot programming translates the
    joint angles of a robot to the position and
    orientation of its end-effector.

    Therefore, the Jacobian matrix describes


    how the end-effector velocity varies in
    relation to the joint velocity.
    𝑎_ 1
    = 20
    𝑎_ 2
    = 25 ϴ_1
    𝑎_ 3 =0
    = 10 ϴ _2
    =0
    𝑎_ 4 𝑑 _ 3=
    = 15 0
    𝑎_ 5
    = 15
    ROTA
    TION
    MATR
    ICES
    𝑎_ 1
    =
    𝑎_ 2 20
    = 25 ϴ_1
    𝑎_ 3 =
    = 10 ϴ_2 0
    =0
    𝑎_ 4 𝑑 _
    = 15 3 = 0
    𝑎_ 5
    = 15
    ROTA
    TION
    MATR
    ICES
    EQUATING TO:
    𝑎_ 1
    =
    𝑎_ 2 20
    = 25 ϴ_1
    𝑎_ 3 =
    = 10 ϴ_2 0
    =0
    𝑎_ 4 𝑑 _
    = 15 3 = 0
    𝑎_ 5
    = 15
    ROTA
    TION
    MATR
    ICES
    VELOCITY
    EQUATION
    ẋ=0
    y ̇ = 40 ϴ1 + 50 ϴ2
    z ̇ = -d3
    ω_x = 0
    ω_y = 0
    ω_z = (ϴ1 ) ̇=+ ϴ ̇2
    THANK FOR YOUR TIME!
    COMPANY 5 - SCARA MANIPULATOR

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