This thesis presents a Modeling and Control framework for a Four-DOF SCARA Manipulator in an RRPR joint configuration. It provides both Analytical Kinematics and Weighted Least-Squares Inverse Kinematics; along with Joint Space PID Control in the MATLAB Simulink and Simscape Multibody environments. Forward kinematics are represented by Denavit-Hartenberg transformation matrices that map joint coordinates to Cartesian coordinates (Position and Orientation) of the End-Effector. Closed form equations for Inverse Kinematics are used to determine planar joint coordinates from geometric relationships between links, while the prismatic joint determines Vertical Positioning and the Wrist Joint determines Tool Orientation. A Weighted Least-Squares Method with variable weights and Tikhonov Damping has been used to provide Stability near Singularities. Simulation Results indicate accurate Path Tracking and Stable Joint Motion; thus validating both the Kinematic Models and the PID Control.