MATLAB GUIDE FOR FORWARD KINEMATIC CALCULATION OF 3 TO 6 DOF SCARA ROBOTS

Abstract

The research work is focused on calculation of position matrices or end effector position of SCARA robotic arm of 3 to 6 Degree of Freedom for various industrial purposes or operations like material handling, assembly, welding, pick and place operations. The calculations of position matrices or end effector position are very complicated and time consuming or laborious, to minimize the time consumption and to enhance learning of forward kinematics of SCARA robot of 3 to 6 DOF a user friendly Graphical User Interface is developed by using MATLAB GUIDE(Graphical User Interface Development Environment ). This MATLAB GUIDE tool is used in calculating position matrices or end effector position of SCARA robots. In this research work 5 and 6 Degree of freedom SCARA robot were developed by referring 3 and 4 degree of freedom robots.