ARQUITECTURA DE

ROBOTS
Kinematics, SCARA robot

MC. Mario Angel Rico Mendez

Facultad de Ingeniería Mecánica y Eléctrica
 kinematics
DH Method

19.09.23 Arquitectura de Robots 2

M1 – scara type

19.09.23 Arquitectura de Robots 3

 M1 – scara type

z y

x
y

x
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 M1 – scara type
• Identify links
L2
L3

L4
L1

x
19.09.23 Arquitectura de Robots 5
 M1 – scara type
• Identify links
𝒒𝟑
L2 • Identify joints or variables
L3

L4
L1
𝒒𝟐

z
𝒒𝟏

x
19.09.23 Arquitectura de Robots 6
 M1 – scara type

𝑺𝟏 𝑺𝟐
• Identify links
𝒒𝟑
L2
• Identify joints or variables
L3
• Number frames So .. Sn

L4
L1
𝒒𝟐
𝑺𝒕𝒄𝒑

z
𝑺𝒐 𝒒𝟏

x
19.09.23 Arquitectura de Robots 7
 M1 – scara type

𝑺𝟏 𝑺𝟐
• Identify links
𝒒𝟑
L2
𝐙𝟏
• Identify joints or variables
L3
• Number frames So .. Sn
• Place Z axes, on the rotation
𝐙𝟐 L4
L1 or displacement of the joints
𝒒𝟐
𝐙𝟎 𝑺𝒕𝒄𝒑

z
𝑺𝒐 𝒒𝟏

x
19.09.23 Arquitectura de Robots 8
 M1 – scara type

𝑺𝟏 𝑺𝟐
• Place X-axes, right-handed
𝒒𝟑 with respect to the z-axes, as
L2
𝐙𝟏 L3 𝐗𝟐 long as it crosses with z_i
and z_(i−1)
𝐗𝟏 𝐙𝟐 L4
L1
𝒒𝟐
𝐙𝟎 𝑺𝒕𝒄𝒑

z
𝑺𝒐 𝒒𝟏
𝐗𝟎
y

x
19.09.23 Arquitectura de Robots 9
 M1 – scara type

𝑺𝟏 𝑺𝟐
• Place X-axes, right-handed
𝐘𝟏 𝒒𝟑 with respect to the z-axes, as
L2
𝐙𝟏 L3 𝐗𝟐 long as it crosses with z_i
and z_(i−1)
𝐗𝟏 𝐙𝟐 L4
𝐘𝟐
• Place the Y axes, in a right-
L1
𝒒𝟐 handed shape with respect to
𝐙𝟎 𝑺𝒕𝒄𝒑 the x, z axes
𝐘𝟎
z
𝑺𝒐 𝒒𝟏
𝐗𝟎
y

x
19.09.23 Arquitectura de Robots 10
 M1 – scara type

𝑺𝟏 𝑺𝟐
• Place X-axes, right-handed
𝐘𝟏 𝒒𝟑 with respect to the z-axes, as
L2 𝐙𝟏 L3 𝐗𝟐 long as it crosses with z_i
and z_(i−1)
𝐗𝟏 𝐙𝟐 L4
𝐘𝟐
• Place the Y axes, in a right-
L1
𝒒𝟐 𝐗𝟑 handed shape with respect to
𝐙𝟎
𝑺𝒕𝒄𝒑 the x, z axes
𝐘𝟎 𝐘𝟑 • Place the X,Y,Z axes in the
z 𝐙𝟑
𝑺𝒐 𝒒𝟏 TCP
𝐗𝟎
y

x
19.09.23 Arquitectura de Robots 11
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
𝐘𝟏 𝒒𝟑 • 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1
L2 𝐙𝟏 L3 𝐗𝟐 and Xn
• 𝑑𝑖 distance from the center of the n-1 plot to
the center of the ni frame, along the Zn-1 axis
𝐘𝟐 • 𝑎𝑖 distance from the center of frame n-1 to the
𝐗𝟏 𝐙𝟐 L4
L1 center of frame n, along the axis Xn
𝒒𝟐 𝐗𝟑 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1
𝑺𝒕𝒄𝒑 and Zn
𝐙𝟎
𝐘𝟎 𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1
𝐗𝟎 𝑆2
y
𝑆3
x
19.09.23 Arquitectura de Robots 12
 M1 – scara type
𝐙𝟎
𝑺𝟏 𝑺𝟐
• DH Parameters
𝐘𝟎
𝐘𝟏 𝒒𝟑 • 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2 𝐙𝟏 L3 𝐗𝟐 • 𝑑𝑖 distance from the center of the n-1 plot to the center
of the ni frame, along the Zn-1 axis
𝐗𝟎 • 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn
𝐘𝟐
𝐗𝟏 𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1

y 𝑆2
𝑆3
x
19.09.23 Arquitectura de Robots 13
 M1 – scara type

𝑺𝟏 𝐙𝟎 𝑺𝟐
• DH Parameters
𝐘𝟏 𝒒𝟑 • 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
𝐘𝟎
L2 𝐙𝟏 L3 𝐗𝟐 • 𝑑𝑖 distance from the center of the n-1 plot to the center
of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn
𝐗 𝐘𝟐
𝐗𝟏 𝟎 𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2

y 𝑆2
𝑆3
x
19.09.23 Arquitectura de Robots 14
 M1 – scara type

𝑺𝟏 𝐙𝟎 𝑺𝟐
• DH Parameters
𝐘𝟏 𝒒𝟑 • 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
𝐘𝟎
L2 𝐙𝟏 𝐗𝟐 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn
𝐗 𝐘𝟐
𝐗𝟏 𝟎 𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2
𝑆3
x
19.09.23 Arquitectura de Robots 15
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
𝐘𝟏 𝒒𝟑 • 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2 𝐙𝟏 𝐗𝟐 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn
𝐘𝟐
𝐗𝟏 𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2
𝑆3
x
19.09.23 Arquitectura de Robots 16
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
𝐘𝟏
𝒒𝟑 • 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2 𝐙𝟏 𝐗𝟐 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
𝐗𝟏 frame n, along the axis Xn
𝐘𝟐
𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2
𝑆3
x
19.09.23 Arquitectura de Robots 17
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
𝐘𝟏
𝒒𝟑 • 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2 𝐙𝟏 𝐗𝟐 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
𝐗𝟏 frame n, along the axis Xn
𝐘𝟐
𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2 0
𝑆3
x
19.09.23 Arquitectura de Robots 18
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
𝐘𝟏 𝐙𝟏 • 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2
𝒒𝟑 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 𝐗𝟐
of the ni frame, along the Zn-1 axis
𝐗𝟏
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn
𝐘𝟐
𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2 0 L3
𝑆3
x
19.09.23 Arquitectura de Robots 19
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
• 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2
𝒒𝟑 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 𝐗𝟐
of the ni frame, along the Zn-1 axis
𝐗𝟏
• 𝑎𝑖 distance from the center of frame n-1 to the center of
𝐙𝟏 frame n, along the axis Xn
𝐘𝟐
𝐙𝟐 L4 𝐘𝟏 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2 0 L3 𝜋
𝑆3
x
19.09.23 Arquitectura de Robots 20
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
• 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2
𝒒𝟑 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 𝐗𝟐
of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn
𝐘𝟐
𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2 0 L3 𝜋
𝑆3
x
19.09.23 Arquitectura de Robots 21
 M1 – tipo scara

𝑺𝟏 𝑺𝟐
• DH Parameters
• 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2
𝒒𝟑 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 𝐗𝟐
of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn
𝐘𝟐
𝐙𝟐 L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn
L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑

𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2 0 L3 𝜋
𝑆3 0
x
19.09.23 Arquitectura de Robots 22
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
• 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2
𝒒𝟑 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn

L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn

L1 𝐗𝟐
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑
𝐘𝟐
𝐙𝟐 𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3
x
19.09.23 Arquitectura de Robots 23
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
• 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2
𝒒𝟑 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn

L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn

L1 𝐗𝟐
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑
𝐘𝟐
𝐙𝟐 𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3 0
x
19.09.23 Arquitectura de Robots 24
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
• 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2
𝒒𝟑 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn

L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn

L1 𝐗𝟐
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑
𝐘𝟐
𝐙𝟐 𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0

y 𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3 0 0
x
19.09.23 Arquitectura de Robots 25
 M1 – scara type

𝑺𝟏 𝑺𝟐
• DH Parameters
• 𝜃𝑖 Rotation about Zn-1 required to parallel Xn-1 and Xn
L2
𝒒𝟑 • 𝑑𝑖 distance from the center of the n-1 plot to the center
L3 of the ni frame, along the Zn-1 axis
• 𝑎𝑖 distance from the center of frame n-1 to the center of
frame n, along the axis Xn

L4 • 𝛼𝑖 Rotation about Xn required to parallel Zn-1 and Zn

L1
𝒒𝟐 𝐗𝟑
𝑺𝒕𝒄𝒑
𝐙𝟎
𝐘𝟎 𝐘𝟑
z 𝐙𝟑 So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑺𝒐 𝒒𝟏
𝑆1 𝑞1 L1 L2 0
𝐗𝟎 𝑆2 𝑞2 0 L3 𝜋
y
𝑆3 0 𝐿4 + 𝑞3 0 0
x
19.09.23 Arquitectura de Robots 26
 M1 – scara type
• DH Parameters
So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑆1 𝑞1 L1 L2 0
𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3 0 0

• Make a transformation matrix

for each frame 𝑆𝑖
z
𝑐𝜃𝑖 −𝑐𝛼𝑖 𝑠𝜃𝑖 𝑠𝛼𝑖 𝑠𝜃𝑖 𝑎𝑖 𝑐𝜃𝑖
𝑖−1 𝑠𝜃𝑖 𝑐𝛼𝑖 𝑐𝜃𝑖 −𝑠𝛼𝑖 𝑐𝜃𝑖 𝑎𝑖 𝑠𝜃𝑖
y 𝑖 𝐴=
0 𝑠𝛼𝑖 𝑐𝛼𝑖 𝑑𝑖
0 0 0 1
x
19.09.23 Arquitectura de Robots 27
 M1 – scara type
• DH Parameters
So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑆1 𝑞1 L1 L2 0
𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3 0 0

𝒄𝜽𝒊 −𝒄𝜶𝒊 𝒔𝜽𝒊 𝒔𝜶𝒊 𝒔𝜽𝒊 𝒂𝒊 𝒄𝜽𝒊 𝒄𝒒𝟏 −𝒄(𝟎)𝒔𝒒𝟏 𝒔(𝟎)𝒔𝒒𝟏 𝑳𝟐 𝒄𝒒𝟏 𝒄𝒒𝟏 −𝒔𝒒𝟏 𝟎 𝑳𝟐 𝒄𝒒𝟏
𝟎 𝒔𝜽𝒊 𝒄𝜶𝒊 𝒄𝜽𝒊 −𝒔𝜶𝒊 𝒄𝜽𝒊 𝒂𝒊 𝒔𝜽𝒊 𝒔𝒒𝟏 𝒄(𝟎)𝒄𝒒𝟏 −𝒔(𝟎)𝒄𝒒𝟏 𝑳𝟐 𝒔𝒒𝟏 𝒔𝒒𝟏 𝒄𝒒𝟏 𝟎 𝑳𝟐 𝒔𝒒𝟏
𝟏𝑨 = = =
𝟎 𝒔𝜶𝒊 𝒄𝜶𝒊 𝒅𝒊 𝟎 𝒔(𝟎) 𝒄(𝟎) 𝑳𝟏 𝟎 𝟎 𝟏 𝑳𝟏
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

19.09.23 Arquitectura de Robots 28

 M1 – scara type
• DH Parameters
So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑆1 𝑞1 L1 L2 0
𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3 0 0

𝒄𝜽𝒊 −𝒄𝜶𝒊 𝒔𝜽𝒊 𝒔𝜶𝒊 𝒔𝜽𝒊 𝒂𝒊 𝒄𝜽𝒊 𝒄𝒒𝟐 −𝒄(𝝅)𝒔𝒒𝟐 𝒔(𝝅)𝒔𝒒𝟐 𝑳𝟐 𝒄𝒒𝟐 𝒄𝒒𝟐 𝒔𝒒𝟐 𝟎 𝑳𝟑 𝒄𝒒𝟐
𝟏 𝒔𝜽𝒊 𝒄𝜶𝒊 𝒄𝜽𝒊 −𝒔𝜶𝒊 𝒄𝜽𝒊 𝒂𝒊 𝒔𝜽𝒊 𝒔𝒒𝟐 𝒄(𝝅)𝒄𝒒𝟐 −𝒔(𝝅)𝒄𝒒𝟐 𝑳𝟐 𝒔𝒒𝟐 𝒔𝒒𝟐 −𝒄𝒒𝟐 𝟎 𝑳𝟑 𝒔𝒒𝟐
𝟐𝑨 = = =
𝟎 𝒔𝜶𝒊 𝒄𝜶𝒊 𝒅𝒊 𝟎 𝒔(𝟎) 𝒄(𝝅) 𝟎 𝟎 𝟎 −𝟏 𝟎
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

19.09.23 Arquitectura de Robots 29

 M1 – scara type
• DH Parameters
So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑆1 𝑞1 L1 L2 0
𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3 0 0

𝒄𝜽𝒊 −𝒄𝜶𝒊 𝒔𝜽𝒊 𝒔𝜶𝒊 𝒔𝜽𝒊 𝒂𝒊 𝒄𝜽𝒊 𝒄𝟎 −𝒄(𝟎)𝒔𝟎 𝒔(𝟎)𝒔𝟎 𝟎 𝟏 𝟎 𝟎 𝟎

𝟐 𝒔𝜽𝒊 𝒄𝜶𝒊 𝒄𝜽𝒊 −𝒔𝜶𝒊 𝒄𝜽𝒊 𝒂𝒊 𝒔𝜽𝒊 𝒔𝟎 𝒄(𝟎)𝒄𝟎 −𝒔(𝟎)𝒄𝟎 𝟎 𝟎 𝟏 𝟎 𝟎
𝟑𝑨 = = =
𝟎 𝒔𝜶𝒊 𝒄𝜶𝒊 𝒅𝒊 𝟎 𝒔(𝟎) 𝒄(𝟎) 𝑳𝟑 + 𝒒𝟑 𝟎 𝟎 𝟏 𝑳𝟑 + 𝒒𝟑
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

19.09.23 Arquitectura de Robots 30

 M1 – scara type
• DH Parameters
So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑆1 𝑞1 L1 L2 0
𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3 0 0

𝒄𝒒𝟏 −𝒔𝒒𝟏 𝟎 𝑳𝟐 𝒄𝒒𝟏 𝒄𝒒𝟐 𝒔𝒒𝟐 𝟎 𝑳𝟑 𝒄𝒒𝟐 𝟏 𝟎 𝟎 𝟎

𝟎 𝒔𝒒𝟏 𝒄𝒒𝟏 𝟎 𝑳𝟐 𝒔𝒒𝟏 𝒔𝒒𝟐 −𝒄𝒒𝟐 𝟎 𝑳𝟑 𝒔𝒒𝟐 𝟎 𝟏 𝟎 𝟎
𝟑𝑨 = 𝟎 𝟎 𝟏 𝑳𝟑 + 𝒒𝟑
=
𝟎 𝟎 𝟏 𝑳𝟏 𝟎 𝟎 −𝟏 𝟎
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

19.09.23 Arquitectura de Robots 31

M1 – scara type
• DH Parameters
So 𝜽𝒊 𝒅𝒊 𝒂𝒊 𝜶𝒊
𝑆1 𝑞1 L1 L2 0
𝑆2 𝑞2 0 L3 𝜋
𝑆3 0 𝐿4 + 𝑞3 0 0

𝒄𝒒𝟏 −𝒔𝒒𝟏 𝟎 𝑳𝟐 𝒄𝒒𝟏 𝒄𝒒𝟐 𝒔𝒒𝟐 𝟎 𝑳𝟑 𝒄𝒒𝟐 𝟏 𝟎 𝟎 𝟎

𝟎 𝒔𝒒𝟏 𝒄𝒒𝟏 𝟎 𝑳𝟐 𝒔𝒒𝟏 𝒔𝒒𝟐 −𝒄𝒒𝟐 𝟎 𝑳𝟑 𝒔𝒒𝟐 𝟎 𝟏 𝟎 𝟎
𝟑𝑨 = 𝟎 𝟎 𝟏 𝑳𝟒 + 𝒒𝟑
=
𝟎 𝟎 𝟏 𝑳𝟏 𝟎 𝟎 −𝟏 𝟎
𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏 𝟎 𝟎 𝟎 𝟏

𝒄(𝒒𝟏 + 𝒒𝟐 ) 𝒔(𝒒𝟏 +𝒒𝟐 ) 𝟎 𝑳𝟑 𝒄(𝒒𝟏 + 𝒒𝟐 ) + 𝑳𝟐 𝒄𝒒𝟏

𝒔(𝒒𝟏 +𝒒𝟐 ) −𝒄(𝒒𝟏 + 𝒒𝟐 ) 𝟎 𝑳𝟑 𝒔(𝒒𝟏 + 𝒒𝟐 ) + 𝑳𝟐 𝒔𝒒𝟏
=
𝟎 𝟎 −𝟏 𝑳𝟒 + 𝒒 𝟑
𝟎 𝟎 𝟎 𝟏

19.09.23 Arquitectura de Robots 32

Bibliography

• Barrientos, A., Peñin, L. F., Balaguer, C., & Aracil, R.

(2007). Fundamentos de robótica (Vol. 2, pp. 108-122). Madrid:
McGraw-Hill.

• Craig, J. J. (2006). Robótica, 3ra Edición. sl.

Arquitectura de Robots