Kinematics for the SCARA and the cylindrical manipulators

Victor Hernadez, Gustavo Bravo, Jose De Jesus Rubio, Jaime Pacheco

Research output: Contribution to journalArticle

6 Scopus citations


Kinematics analysis is divided into: forward and inverse kinematics. Forward kinematics showed how to determine the end-effector position and orientation in terms of the joint variables. The problem of inverse kinematics is to find the joint variables in terms of the end-effector position and orientation. The Jacobian presents the relation between the joint and the end effector position velocities. The paper shows the kinematics of the SCARA robot with four degrees of freedom, the four degrees are different from others. The paper shows the kinematics of the cylindrical robot with three degrees of freedom. © 2011 ISSN 2185-2766.
Original languageAmerican English
Pages (from-to)421-425
Number of pages5
JournalICIC Express Letters, Part B: Applications
StatePublished - 1 Apr 2011

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