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)


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[1] Wikipedia. "SCARA." (Jul 10, 2014)
[2] Wikipedia. "inverse Kinematics." (Jul 10, 2014)
[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.
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