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