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Kinematics of SCARA Robot in 2D

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The SCARA robot (Selective Compliance Assembly Robot Arm) has four degrees of freedom: three rotations and one translation.

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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

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The inverse equation of the SCARA robot uses the inverse transform method.

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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.

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Contributed by: Shutao Tang (July 2014)
(Changzhou University, Jiangsu Province, China)
Open content licensed under CC BY-NC-SA

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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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