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Forward Kinematics and Differential Motion Analysis of SCORBOT ER-V plus Robotic System

Faijubhai R.Malek

In this paper forward kinematic analysis and differential motion analysis of the SCOROT ER V-plus robotic system, which is a 5 d.o.f articulated robotic manipulator, following a specified trajectory is reported. Forward kinematic analysis uses D-H formulation and Differential motion uses Jacobians and determines angular positions and end-effector‟s translational and angular velocity at each via point of its trajectory in the Cartesian space co-ordinates respectively. A trajectory passing through initial point, lift off point, set down point and final point is interpolated in the joint space using cubic splines. The trajectory scheme assumes two more intermediate points on trajectory. Thus, there are five segments of the entire trajectory. A MATLAB source code is developed to obtain all the kinematics parameters and important conclusions are reported from the values obtained.