Forward and Inverse Kinematics of the SCARA Robot

The Selective Compliant Assembly Robot Arm (SCARA) industrial robot has four degrees of freedom (DOF). The first DOF is the motion of a prismatic joint to control motion along the

z

axis with high stiffness. The second and third DOF are revolute joints to control motion in the

x

-

y

plane with good selective compliance. The fourth DOF is also a revolute joint to control end-effect orientation. The SCARA robot has many applications for high-speed assembly, packaging, and material handling. This Demonstration shows both forward and inverse kinematics of a SCARA robot.