KINEMATIC ANALYSIS OF A 4 DEGREES OF FREEDOM SCARA ROBOT AEM FOCUSING ON THE FORWARD AND INVERSE KINEMATICS USING MATLAB

Abstract

This project presented Kinematic analysis of a SCARA robotic system with four degrees of freedom focusing on kinematics part of mechanism and get its forward and inverse by using MATLAB. SCARA robotic is a type of industrial robot stands for “Selective Compliance Articulated Robot Arm”, it has a hight speed and hight accuracy for this reason it’s used for many applications that’s require a high precision assembly, pick-and-place tasks, and other applications in manufacturing. its arm has four degrees of freedom, the type of its joints is RRPR, SCARA robots typically have a cylindrical work envelope, meaning they can reach areas within a circular or cylindrical space. This makes them well-suited for applications where the workspace has a relatively consistent shape. We control it forward and inverse kinematics motion by utilizing different joint variables.