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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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References
[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.
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