Wolfram Demonstrations Project

13,000+ Open Interactive Demonstrations
Powered by Notebook Technology »

Kinematics of SCARA Robot in 2D

Initializing live version
Download to Desktop

Requires a Wolfram Notebook System

Interact on desktop, mobile and cloud with the free Wolfram Player or other Wolfram Language products.

The SCARA robot (Selective Compliance Assembly Robot Arm) has four degrees of freedom: three rotations and one translation.

[more]

This Demonstration shows the inverse-kinematic simulation of a SCARA robot in 2D. The forward equation of the SCARA robot comes from the D-H coordinate method, based on the matrix

.

The inverse equation of the SCARA robot uses the inverse transform method.

.

To simulate the inverse kinematics of the SCARA robot, the endpoint of the robot traces a straight line from to in five minutes with the velocity shown in the Demonstration.

[less]

Contributed by: Shutao Tang (July 2014)
(Changzhou University, Jiangsu Province, China)
Open content licensed under CC BY-NC-SA

Snapshots

Details

References

[1] Wikipedia. "SCARA." (Jul 10, 2014) en.wikipedia.org/wiki/SCARA.

[2] Wikipedia. "inverse Kinematics." (Jul 10, 2014) en.wikipedia.org/wiki/Inverse_kinematics.

[3] S. B. Niku. 机器人学导论：分析、控制及应用[M]．北京：电子工业出版社. 2013.

Embed Code

Take advantage of the Wolfram Notebook Emebedder for the recommended user experience.

Related Demonstrations More by Author
Browse all topics
Feedback (field required)
Email (field required) Name
Occupation Organization
Note: Your message & contact information may be shared with the author of any specific Demonstration for which you give feedback.
Send