Kinematics for the SCARA and the cylindrical manipulators

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.