Kinematic Analysis of 4-DOF Teleoperated SCARA

Abstract

Tele-operated robots are a class of robots that can be controlled from a remote location. They do not require the actual physical presence of the controller at the area of interest. This characteristic of tele-robots makes them highly useful in applications where the physical presence of the operator is either not viable or is dangerous, such as handling of toxic wastes or in medical applications. This project uses an augmented video interface and haptic feedback for slip detection to develop a 4-DOF SCARA robot that can be used as a tele robot. SCARA robots have the advantage of high degree of precision and reliability and hence are ideal for use as tele-robots. They have both linear as well as rotary joints, which results in a cylindrical configuration. This makes them well suited for almost any applications. The initial design of the robot was performed using Solidworks software. This provides the static workspace analysis of the robot and enables the setting of the material specifications required by the robot. In this paper, the derivation of the forward kinematics of the robot using Denavit-Hartenberg parameters and Inverse kinematics using Jacobian analysis have been presented. The Jacobian is a partial derivative analysis used to determine the inverse kinematics of the robot. The parameters were manually calculated and later compared using the robotics toolbox available in MATLAB (Mathematics Laboratory). A detailed description of the robot, including the materials used is also attached to enable a thorough understanding of the robot.