VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITY

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY

GROUP PROJECT
ROBOTICS (ME3015)
TOPIC: Robot Epson S5-Series 6-Axis
Lecturer: Dr. Phạm Công Bằng
Group: Robotics Engineers
Members:

No Name ID Number
1 Nguyễn Thiện Bình 2210325
2 Nguyễn Quan Hữu 2211407
3 Đỗ Tấn Lợi 2211941
4 Phạm Hoàng Việt Tiến 2213471
5 Nguyễn Trường Thịnh 2213297

Industry 4.0 has significantly advanced our quality of life by introducing modern
technologies, especially robotics. Initially, robots were designed to assist in industrial
environments—performing hazardous tasks, or executing simple, repetitive operations with
high precision. Over time, their roles have expanded into everyday life, including household
assistance, services in restaurants, and public spaces. These applications have played an
essential role in enhancing both the material and emotional well-being of people.
Robots vary widely in form and function based on their intended applications. Common types
include mobile robots, robotic arms, and humanoid robots. Among them, robotic arms are
particularly prominent and extensively developed in industrial settings. Designed to imitate
the movement of a human arm, they consist of interconnected links joined by revolute or
prismatic joints, allowing them to move flexibly and accurately.
Prominent companies in the field of robotic arms include STAUBLI, KUKA, ABB, FANUC,
and Yaskawa Robotics.
In this report, our group will present the Robot Epson S5-Series 6-Axis, developed by Seiko
Epson Corporation. The report covers the following topics:
- General introduction to the Robot Epson S5-Series 6-Axis
- Defining coordinate systems
- Identifying Denavit–Hartenberg (D-H) parameters
- Solving forward kinematics
- Solving inverse kinematics
- Analyzing the workspace
- Jacobian matrix and singularity analysis
- Simulating the robot's movements
We would like to sincerely thank Dr. Pham Cong Bang, our dedicated instructor, for his
invaluable guidance and the MATLAB techniques that helped us complete this project. We
are also grateful to our classmates for their continuous support and willingness to share
knowledge throughout the process.
Despite our best efforts, this report may still contain some inaccuracies due to our limited
experience. We welcome any feedback from readers to help us improve.
GPJ #1 Group: Robotics Engineers

TABLE OF CONTENTS
1 Specifications of the robot Robot Epson S5-Series 6-Axis.......................................................4
2 Set coordinate frames for the first four links.............................................................................7
2.1 Theory.....................................................................................................................................7
2.2 Application..............................................................................................................................7
3 Determine three sets of D-H parameters...................................................................................7
3.1 Theory.....................................................................................................................................7
3.2 Application..............................................................................................................................8
4 Determine three sets of D-H parameters...................................................................................8
4.1 Theory.....................................................................................................................................8
4.2 Application..............................................................................................................................8
5 Formulate the inverse kinematic problem...............................................................................10
5.1 Theory...................................................................................................................................10
5.2 Application............................................................................................................................11
6 Give a comment on the workspace..........................................................................................11
6.1 Theory...................................................................................................................................11
6.2 Application............................................................................................................................12
7 Formulate the Jacobian matrix for this robot. Is there any singularity?..................................13
7.1 Theory...................................................................................................................................13
7.2 Application............................................................................................................................14
8 Simulate the motion of this robot to plot initial letters from the first names of your team
members on a certain plane that is perpendicular to axis Z 0.........................................................15

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LIST OF FIGURE

Figure 1: Workspace..........................................................................................................................8
Figure 2: Setting coordinate frames for the Robot Epson S5-Series 6-Axis....................................8
Figure 3: Position changes..............................................................................................................11
Figure 4: Workspace........................................................................................................................14
Figure 5: Setting coordinate frames in Soliwords...........................................................................17
Figure 6: Setting coordinate frames in Matlab................................................................................17
Figure 7: Code.................................................................................................................................18
Figure 8: Model block diagram.......................................................................................................18
Figure 9: In simulate, set stop time is 250 seconds.........................................................................19
Figure 10: Result on XY Plane........................................................................................................19
Figure 11: Scope..............................................................................................................................19
LIST OF TABLE
Table 1: Data sheet of the Robot Epson S5-Series 6-Axis...............................................................5
Table 2: Set of D-H parameters.........................................................................................................9

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1 Specifications of the Robot Epson S5-Series 6-Axis

The Epson S5-Series 6-Axis robot is an industrial robot developed and manufactured by Seiko
Epson Corporation (Epson)—a leading technology company from Japan. This robot series
features a compact yet powerful design, optimized for applications that require high precision and
flexible operation in limited spaces.
Key Features:
- 6 Degrees of Freedom (6-DOF): Enables the robot to perform flexible movements in 3D
space, closely mimicking the motion of a human arm.
- Compact and Lightweight Design: Ideal for production lines with limited space.
- High Precision: Suitable for applications such as electronics assembly, quality inspection,
soldering, and parts feeding.
- User-Friendly Programming: Supports the intuitive Epson RC+ software, allowing users to
easily program, simulate, and control the robot.
- Excellent Integration Capabilities: Can be connected to various peripherals, sensors, and
machine vision systems, making it suitable for modern automated manufacturing
environments.
Applications:
The Epson S5-Series 6-Axis robot is widely used in industries such as:
- Electronics: PCB assembly, component inspection, small parts handling.
- Automotive: Small parts assembly, quality control.
- Medical and Pharmaceutical: Sample handling, precision packaging.
- Packaging and Logistics: Product picking, sorting, and palletizing.
Combining high performance, precision, and adaptability, the Epson S5-Series is an ideal solution
for businesses aiming to automate their production lines in the era of Industry 4.0.

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GPJ #1 Group: Robotics Engineers

Table 1: Data sheet of the Robot Epson S5-Series 6-Axis

Specification Values or information
Photo

Number of axes 6
Payload Rated 2 kg / Max 5 kg
Robot motion Axis data Range
range of each joint
Axis 1 (J1) ±170°
Axis 2 (J2) +65˚/-150˚
Axis 3 (J3) +190˚/-72˚
Axis 4 (J4) +190°
Axis 5 (J5) ±135°
Axis 6 (J6) +360°
Robot motion Axis data Speed with rated payload (2 kg)
speed Axis 1 (J1) 376°/s
Axis 2 (J2) 350°/s
Axis 3 (J3) 400°/s
Axis 4 (J4) 450°/s
Axis 5 (J5) 450°/s
Axis 6 (J6) 720°/s
V-reach To mounting face To wrist center
786mm 706mm
H-reach To mounting face To wrist center
786mm 706mm
Repeatability ±0.03 mm
Drive system Servo motors on all axes
Structure Articulated 6-axis robot with a SlimLine design, featuring a slim
body and compact wrist pitch axis. This design allows the robot to
reach into confined spaces from multiple angles with smooth motion.

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Figure 1: Workspace

2 Set coordinate frames for the first four links

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2.1 Theory
Based on “Convention for affixing frames to links” (Chapter 4, Page 11) [1]

- The ^Z -axis of frame {i}, called ^Zi , is coincident with the joint axis (i + 1).
- ^
X i points along a i in the direction from joint axis (i) to joint axis (i + 1).
- Y^ i is formed by the right-hand rule to complete the i th frame, i.e. Y^ i = ^Zi × ^
X i.

2.2 Application

Figure 2: Setting coordinate frames for the Robot Epson S5-Series 6-Axis

3 Determine three sets of D-H parameters

3.1 Theory
Based on “Link parameters in terms of the link frames” (Chapter 4, Page 13) [1]

- Link length a i: distance from ^Zi −1 to ^Zi measured along ^Xi

- Link twistα i: the angle from ^Zi −1 to ^Zi measured about ^
Xi
- Link offset d i: distance from X i−1 to X i measured along ^Zi −1
^ ^
- Joint angle θi : the angle from ^
X i−1 to ^ X i measured about ^Zi −1

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3.2 Application
Table 2: Set of D-H parameters

i ai (mm) αi di (mm) θi
1 88 -90° 131 θ1
2 310 0° 0 θ2
3 104 0° 0 θ3
4 Determine three sets of D-H parameters
4.1 Theory
The formula’s individual transformations for each link below (Chapter 4, Page 30) [1]:

[ ]
cos θ i −sin θi cos α i sin θ i sin α i ai cos θi
i−1 sin θi cos θi cos α i −cos θi sin α i ai sin θi
iT =
0 sin α i cos α i di
0 0 0 1

To find the single transformation that relates frame {N} to frame {0}, the transformation matrices
of everylink are then multiplied together (Chapter4, Page 31):
0 0 1 N−1
N T =1T × 2T ×… × N T

This transformation N0T is a function of all N joint variables. If the robot's joint-position sensors
are queried, the Cartesian position and orientation of the end effector could be computed by N0T

4.2 Application

[ ]
cos θ1 0 −sin θ1 88 cos θ 1
0 sinθ 1 0 cos θ1 88 sin θ 1
1T =
0 −1 0 131
0 0 0 1

[ ]
cos θ 2 −sin θ2 0 310 cos θ2
1 sin θ 2 cos θ 2 0 310sin θ 2
2T =
0 0 1 0
0 0 0 1

[ ]
cos θ3 −sin θ3 0 104 cos θ3
2 sin θ 3 cos θ 3 0 104 sin θ3
3T =
0 0 1 0
0 0 0 1

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[ ][ ]
cos θ1 0 −sin θ1 88 cos θ1 cos θ2 −sin θ2 0 310 cos θ2
0 0 1 sin θ1 0 cos θ1 88 sinθ 1 sin θ2 cos θ2 0 310 sin θ2
2T = 1T 2T =
0 −1 0 131 0 0 1 0
0 0 0 1 0 0 0 1

[ ]
cos θ1 cos θ2 −cos θ1 sin θ 2 −sin θ1 310 cos θ1 cos θ2 +88 cos θ1
sinθ 1 cos θ 2 −sinθ 1 sin θ2 cos θ1 310 sin θ1 cos θ2 +88 sin θ1
¿
−sinθ 2 −cos θ 2 0 −310 sin θ2 +131
0 0 0 1
0 0 2
3 T =2T 3T =¿

[ ]
cos θ1 cos ( θ 2+θ 3 ) −cos θ1 sin ( θ 2+ θ3 ) −sinθ 1 cos θ 1 [104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88]
sin θ1 cos ( θ2 +θ3 ) −sinθ 1 sin ( θ 2+θ 3 ) cos θ1 sin θ1 [104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88]
−sin ( θ2 +θ3 ) −cos ( θ2 +θ3 ) 1 −104 sin ( θ2 +θ3 )−310 cos θ2 +131
0 0 0 1

{
0
x D =cos θ1 [104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88]
0
y D=sinθ 1 [104 cos ( θ2 +θ 3) + 310 cos θ2 +88]
0
z D=−104 sin ( θ2 +θ3 ) −310 cos θ2 +131

Specific cases: θ1=θ 2=θ3=0°

[ ][ ][ ]
xD cos θ 1 [104 cos ( θ2 +θ3 ) +310 cos θ2 +88] 502
O
P DORG = y D = sin θ 1 [104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88] = 0
zD −104 sin ( θ2 +θ3 ) −310 sin θ2 +131 131

Rotate the corners

{
θ1=−30 °
θ2=−60 °
θ3=−90°

Code Matlab:
theta1_start = 0;
theta2_start = 0;
theta3_start = 0;

theta1_end = -30;
theta2_end = -60;
theta3_end = -90;

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t = linspace(0, 10, 1000);

theta1_t = theta1_start + (theta1_end - theta1_start) * (t / 10);

theta2_t = theta2_start + (theta2_end - theta2_start) * (t / 10);
theta3_t = theta3_start + (theta3_end - theta3_start) * (t / 10);

x = cosd(theta1_t) .* (104 * cosd(theta2_t + theta3_t) + 310 * cosd(theta2_t) + 88);

y = sind(theta1_t) .* (104 * cosd(theta2_t + theta3_t) + 310 * cosd(theta2_t) + 88);
z = -104 * sind(theta2_t + theta3_t) - 310 * sind(theta2_t) + 131;

figure;
plot(t, x, 'r', 'LineWidth', 2, 'DisplayName', 'X Position');
hold on
plot(t, y, 'g', 'LineWidth', 2, 'DisplayName', 'Y Position');
plot(t, z, 'b', 'LineWidth', 2, 'DisplayName', 'Z Position');
hold off

title('Position Changes');
xlabel('Time (s)');
ylabel('Position (mm)');
legend('show');
grid on;
Output:

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Figure 3: Position changes

5 Formulate the inverse kinematic problem

5.1 Theory
Inverse kinematics is the mathematical process of calculating the variable joint parameters needed
to place the end of a kinematic chain which is, in this project, the position of the end effector of a
robot arm [1].

5.2 Application

{
x=cos θ1 [104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88]
y =sin θ1 [104 cos ( θ 2+θ 3 ) +310 cos θ2 +88]
z=−104 sin ( θ 2+θ 3 )−310 sin θ2 +131

Set:
R=104 cos ( θ 2+θ 3 ) +310 cos θ2 +88

⟺
{ x=R cos θ1
y =R sinθ 1
⟺ R=√ x + y
2 2

y
⟺ tanθ 1=
x

θ1=tan
−1
( yx )
From:

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GPJ #1 Group: Robotics Engineers

{ R=104 cos ( θ2 +θ3 ) +310 cos θ2 +88

z=−104 sin ( θ 2+θ 3 )−310 sin θ2 +131

Set:

{r =104 cos ( θ 2+θ 3 ) +310 cos θ2=R−88

h=104 sin ( θ2 +θ3 ) +310 sin θ2 =131−z
2 2 2 2
r + h −310 −104
⟺ cos θ 3=
2.310 .40

( )
2 2 2 2
−1 r +h −310 −104
⟺ θ3=cos
2.310 .40

Ta có:

{
−1
β=tan 2 ( h , r )
−1
ϕ=tan 2 ( 104 sin θ3 ,310+104 cos θ3 )
−1 −1
⟺ θ2=β −ϕ=tan 2 ( h , r ) −tan 2 ( 104 sin θ3 , 310+104 cos θ3 )

6 Give a comment on the workspace

6.1 Theory
Existing of any solution raises the question of the manipulator's workspace, which is the volume
of space that the end-effector of the manipulator can reach. (Chapter 4, Page 46) [1]

6.2 Application

{
x=cos θ1 [104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88]
y =sin θ1 [104 cos ( θ 2+θ 3 ) +310 cos θ2 +88]
z=−104 sin ( θ 2+θ 3 )−310 sin θ2 +131

{
2
( x−88 cos θ 1) =cos θ1 [104 cos ( θ2 +θ3 ) +310 cos θ 2 ]
⟺ ( y−88 sin θ1 )2=sinθ 1 [104 cos ( θ2 +θ3 ) +310 cos θ2 ]
2
( z−131 )2 =[−104 sin ( θ 2+θ 3 )−310 sin θ2 ]

{
2
( x−88 cos θ 1) + ( y−88 sin θ1 ) =[ 104 cos ( θ 2+θ 3 ) +310 cos θ2 ]
2 2
⟺ 2
( z −131 ) =[−104 sin ( θ 2+ θ3 )−310 sin θ2 ]
2

With : cos ( A−B )=cos ( A ) cos ( B ) +sin ( A ) sin ( B )

2 2 2
⟺ ( x−88 cos θ1 ) + ( y−88 sin θ 1) + ( z −131 ) =106916+64480 cos ( θ 3 )

Comment:

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GPJ #1 Group: Robotics Engineers

The robot's workspace is within a sphere centered at A(88 cos(θ₁), 88 sin(θ₁), 131) with a
minimum radius of R_min = 206 mm and a maximum radius of R_max = 414 mm. The center A
moves along a circle with center O(0, 0, 131) and a radius R = 88 mm, located in the plane z =
131.

Figure 4: Workspace

7 Formulate the Jacobian matrix for this robot. Is there any

singularity?

7.1 Theory
Most manipulators have values of  where the Jacobian becomes singular. Such locations are
called singularities of the mechanism or singularities. (Chapter 5, Page 21) [1]
V =J (θ) θ̇

All manipulators have singularities at:

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- the boundary of their workspace, and

- most have loci of singularities inside their workspace.

7.2 Application

{
x=cos θ1 [104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88]
y =sin θ1 [104 cos ( θ 2+θ 3 ) +310 cos θ2 +88]
z=−104 sin ( θ 2+θ 3 )−310 sin θ2 +131

ẋ=−sin θ 1 [ 104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88 ] θ̇1−cos θ1 [ 104 sin ( θ2 +θ3 ) +310 sin θ2 ] θ̇2−104 cos θ1 sin ( θ2 +θ3 ) θ̇

ẏ=cos θ1 [ 104 cos ( θ 2+θ 3 ) +310 cos θ2 +88 ] θ̇ 1−sin θ1 [ 104 sin ( θ2 +θ3 ) +310 sin θ 2 ] θ̇ 2−104 sin θ1 sin ( θ2 +θ3 ) θ̇3

ż=−[ 104 cos ( θ2 +θ 3 )+ 310 cos θ2 ] θ̇2−104 cos ( θ2 +θ3 ) θ̇3

With:

[] []
ẋ θ̇1
ẏ =J . θ̇2
ż θ̇3

J=¿

[ ]
−s 1 ( 104 c 2 c 3−104 s 2 s3 +310 c 2 +88 ) −c 1 ( 104 s 2 c3 +104 c 2 s3 +310 s2 ) −c 1 ( 104 s 2 c 3 +104 c 2 s 3 )
c1 ( 104 c 2 c 3−104 s2 s 3 +310 c 2+ 88 ) −s 1 ( 104 s 2 c 3 +104 c 2 s 3+ 310 s 2 ) −s1 ( 104 s2 c 3+ 104 c 2 s3 )
0 −104 c 2 c 3+104 s 2 s3 −310 c 2 −104 c2 c 3+ 104 s 2 s 3

With:

{si =sin θi
c i=cos θ i

Singularity:
det ( J )=0
2
⟺ s1 ( 104 c 2 c 3−104 s 2 s3 +310 c 2 +88 ) ( 104 s 2 c 3 +104 c2 s 3 +310 s 2 ) (−104 c 2 c3 +104 s 2 s3 )
2
−c 1 ( 104 s 2 c3 + 40 c 2 s3 ) ( 104 c 2 c 3−104 s2 s 3 +310 c 2+ 88 ) (−104 c 2 c 3+ 104 s 2 s 3−310 c 2 )
2
−s1 ( 104 c 2 c3 −104 s 2 s 3+310 c2 +88 )( 104 s 2 c3 +104 c2 s 3 ) (−104 c 2 c 3+ 104 s 2 s 3−310 c 2 )
2
+c 1 ( 104 s 2 c3 +104 c 2 s3 +310 s2 ) ( 104 c 2 c 3−104 s2 s 3 +310 c 2+ 88 ) (−104 c 2 c 3+104 s 2 s3 ) =0
( 1)

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Set:

{
A=104 c 2 c 3−104 s 2 s3 +310 c 2 +88
B=−104 c 2 c 3 +104 s2 s 3
C=104 s 2 c 3 +104 c2 s 3 +310 s 2
D=104 s 2 c3 +104 c2 s 3
E=−104 c 2 c3 +104 s 2 s3−310 c2

From ( 1 ):
2 2 2 2
s1 ABC + c1 ABC −s 1 ADE−c 1 ADE=0

⟺ A ( BC−DE )=0

⟺ A . ( K s 3 )=0

⟺ 104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88=0∨sin θ3=0

Case 1: 104 cos ( θ2 +θ3 ) +310 cos θ 2+ 88=0

: −104 ≤ 104 cos ( θ2 +θ3 ) ≤104

In order for the equation to have a solution

−104 ≤−310 cos θ2−88≤ 104

96 8
⟺− ≤ cos θ2 ≤
155 155

( 1558 )+2 kπ ≤ θ ≤ cos ( −96

⟺ cos−1
155 )
+ 2 kπ
2
−1

hoặc 2 π−cos ( ) +2 kπ ≤ θ ≤ 2 π −cos (

155 )
−96 −1 8 −1
+2 kπ
2
155

{
( 1558 )+2 kπ ≤ θ ≤ cos ( −96
cos
−1
155 )
+2 kπ 2
−1

( 155 )
⟺ hoặc 2 π−cos −96 +2 kπ ≤θ ≤ 2 π −cos
−1
( 1558 )+ 2 kπ 2
−1

θ3 =−θ2 ±cos
−1
( −310 cos104θ −88 )+2 kπ
2

Case 2: sin θ3 =0 ⟺θ 3=kπ

So the Robot falls into the singularity when:

- θ3 =0 ° hoặc θ3 =180°
- θ2 ∈ [ 87 , 05 ° ;128 ,26 ° ] ∪ [ 231 , 74 ° ; 272, 95 ° ] with the correspondingθ3 value

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8 Simulate the motion of this robot to plot initial letters from the first
names of your team members on a certain plane that is perpendicular to
axis Z 0.

Figure 5: Setting coordinate frames in Soliwords

Figure 6: Setting coordinate frames in Matlab

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GPJ #1 Group: Robotics Engineers

Figure 7: Code

Figure 8: Model block diagram

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GPJ #1 Group: Robotics Engineers

Figure 9: In simulate, set stop time is 250 seconds

Figure 10: Result on XY Plane

TIẾN, BÌNH, THỊNH, LỢI, HỮU

Figure 11: Scope

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SUMMARY
We have successfully completed all the required tasks for the Robotics Group project. We
provided a detailed background on the Robot Epson S5-Series 6-Axis. The forward kinematics
were solved using appropriately defined coordinate frames and corresponding Denavit-Hartenberg
(D-H) parameters. The inverse kinematics problem was addressed using an algebraic approach,
and the results were verified for accuracy. The robot’s workspace was calculated and clearly
illustrated with visual representations. We derived the Jacobian matrix and identified singularity
points within the robot's working area, with all calculation steps thoroughly explained. Using
MATLAB, we successfully simulated the motion of Robot Epson S5-Series 6-Axis, including its
ability to write the initials of our group members.

Although all requirements were met, we identified two main limitations in our project. First, due
to our limited English proficiency, our presentation lacked clarity in fully conveying our ideas.
Despite this, we made every effort to deliver all essential content. Second, the simulation was
limited to a single 2D plane, meaning the robot arm could write our names but could not include
spacing between letters—resulting in a continuous line connecting them.

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REFERENCE DOCUMENTS
[1] Ph.D Pham Cong Bang (2025), Lecture Slides, HCMUT.
[4] Ph.D Pham Cong Bang (2025), Introduction Robotics Series on Youtube,
[Link] (visit on 30/04/2025).

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