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SCARA Manipulator

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Full Software package for the SCARA manipulator (path planning and trajectory)

J=Jacobian(th1,th2)
function J=Jacobian(th1,th2)
 
 a1=1;
 a2=1;
J=[(-a1*sind(th1)-a2*sind(th1+th2)),-a2*sind(th1+th2),0,0;
    (a1*cosd(th1)+a2*cosd(th1+th2)),a2*cosd(th1+th2),0,0;
    0,0,-1,0;0,0,0,0;0,0,0,0;1,1,0,-1];

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