Kinematic model of the scorbot 4PC manipulator implemented in Matlab's Guide

摘要

This paper will discuss the development and implementation of thedirect and inverse kinematics models with ve degrees of freedom manip-ulator robot (5 D.O.F) Scorbot ER 4PC , under an interface designedin Matlab. For the analysis of the Direct Kinematic Model (DKM),parameters and homogeneous transformation of Denvit Hartenverg areused, and for the Inverse Kinematic Model (IKM) an algebraic solutionis used, which must be manipulate directly the equations found in DKM.These models are processed in Matlab, where they will have a graphical interface developed in Guide. This allows the theory veri cation and atthe same time it can modify the joint variables values as well as modifythe position and orientation of the end e ector (gripper).