Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32579
Scorbot-ER 4U Using Forward Kinematics Modelling and Analysis

Authors: D. Maneetham, L. Sivhour


Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Keywords: Forward kinematics, D-H model, robotic toolbox, PC-and EtherCAT based control.

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1684


[1] Vivek A Deshpande and Dr. P M George, “Analytical Solution for Inverse Kinematics of SCORBOT- ER-Vplus Robot.” IJETAE, 2012, pp. 478 – 481.
[2] J. J. Craig, Introduction to Robotics: Mechanics and Control. 3rd ed. Pearson Education Inc, NJ, 2005.
[3] Jamshed Iqbal, Raza ul Islam, and Hamza Khan, “Modeling and Analysis of a 6 DOF Robotic Arm Manipulator.” Canadian Journal on Electrical and Electronics Engineering, 2012, Vol. 6, pp. 300-306.
[4] M. Dechrit, N. Menghea and C. Sittichai, “Development of 4-DOF (PRRP) SCARA robot arm. ” ISIET, Thailand, 2017.
[5] Asghar Khan and Wang Li Quan, “Forward Kinematic Modelling and Analysis of 6-DOF Underwarer Manipulator.” IEEE International Conference on Fluid Power and Mechatronics, China, 2015, pp. 1093 – 1096.
[6] Scorbot-ER 4U User’s Manual, Intelitek., Catalog # 100343Rev. B, September, 2001.