Kinematics of SCARA Robot in 2D

The SCARA robot (Selective Compliance Assembly Robot Arm) has four degrees of freedom: three rotations and one translation.
This Demonstration shows the inverse-kinematic simulation of a SCARA robot in 2D. The forward equation of the SCARA robot comes from the D-H coordinate method, based on the matrix
The inverse equation of the SCARA robot uses the inverse transform method.
To simulate the inverse kinematics of the SCARA robot, the endpoint of the robot traces a straight line from to in five minutes with the velocity shown in the Demonstration.
  • Contributed by: Shutao Tang
  • (Changzhou University, Jiangsu Province, China)


  • [Snapshot]
  • [Snapshot]
  • [Snapshot]


[1] Wikipedia. "SCARA." (Jul 10, 2014) en.wikipedia.org/wiki/SCARA.
[2] Wikipedia. "inverse Kinematics." (Jul 10, 2014) en.wikipedia.org/wiki/Inverse_kinematics.
[3] S. B. Niku. 机器人学导论:分析、控制及应用[M].北京:电子工业出版社. 2013.
    • Share:

Embed Interactive Demonstration New!

Just copy and paste this snippet of JavaScript code into your website or blog to put the live Demonstration on your site. More details »

Files require Wolfram CDF Player or Mathematica.

Mathematica »
The #1 tool for creating Demonstrations
and anything technical.
Wolfram|Alpha »
Explore anything with the first
computational knowledge engine.
MathWorld »
The web's most extensive
mathematics resource.
Course Assistant Apps »
An app for every course—
right in the palm of your hand.
Wolfram Blog »
Read our views on math,
science, and technology.
Computable Document Format »
The format that makes Demonstrations
(and any information) easy to share and
interact with.
STEM Initiative »
Programs & resources for
educators, schools & students.
Computerbasedmath.org »
Join the initiative for modernizing
math education.
Step-by-Step Solutions »
Walk through homework problems one step at a time, with hints to help along the way.
Wolfram Problem Generator »
Unlimited random practice problems and answers with built-in step-by-step solutions. Practice online or make a printable study sheet.
Wolfram Language »
Knowledge-based programming for everyone.
Powered by Wolfram Mathematica © 2018 Wolfram Demonstrations Project & Contributors  |  Terms of Use  |  Privacy Policy  |  RSS Give us your feedback
Note: To run this Demonstration you need Mathematica 7+ or the free Mathematica Player 7EX
Download or upgrade to Mathematica Player 7EX
I already have Mathematica Player or Mathematica 7+