6axis scara robot
DESCRIPTION
Equation of 6-axis Scara robotTRANSCRIPT
[ - s6*(c3*s4*(c1*c2 - s1*s2) + c4*s3*(c1*c2 - s1*s2)) - c6*(c5*(s3*s4*(c1*c2 - s1*s2) - c3*c4*(c1*c2 - s1*s2)) - s5*(c1*s2 + c2*s1)), s5*(s3*s4*(c1*c2 - s1*s2) - c3*c4*(c1*c2 - s1*s2)) + c5*(c1*s2 + c2*s1), s6*(c5*(s3*s4*(c1*c2 - s1*s2) - c3*c4*(c1*c2 - s1*s2)) - s5*(c1*s2 + c2*s1)) - c6*(c3*s4*(c1*c2 - s1*s2) + c4*s3*(c1*c2 - s1*s2)), a3*c3*(c1*c2 - s1*s2) - d4*(c1*s2 + c2*s1) - d3*(c1*s2 + c2*s1) + a4*c3*c4*(c1*c2 - s1*s2) - a4*s3*s4*(c1*c2 - s1*s2)][ - s6*(c3*s4*(c1*s2 + c2*s1) + c4*s3*(c1*s2 + c2*s1)) - c6*(c5*(s3*s4*(c1*s2 + c2*s1) - c3*c4*(c1*s2 + c2*s1)) + s5*(c1*c2 - s1*s2)), s5*(s3*s4*(c1*s2 + c2*s1) - c3*c4*(c1*s2 + c2*s1)) - c5*(c1*c2 - s1*s2), s6*(c5*(s3*s4*(c1*s2 + c2*s1) - c3*c4*(c1*s2 + c2*s1)) + s5*(c1*c2 - s1*s2)) - c6*(c3*s4*(c1*s2 + c2*s1) + c4*s3*(c1*s2 + c2*s1)), d3*(c1*c2 - s1*s2) + d4*(c1*c2 - s1*s2) + a3*c3*(c1*s2 + c2*s1) + a4*c3*c4*(c1*s2 + c2*s1) - a4*s3*s4*(c1*s2 + c2*s1)][ - s6*(c3*c4 - s3*s4) - c5*c6*(c3*s4 + c4*s3), s5*(c3*s4 + c4*s3), c5*s6*(c3*s4 + c4*s3) - c6*(c3*c4 - s3*s4), - a3*s3 - a4*c3*s4 - a4*c4*s3][ 0, 0, 0, 1] >>