MATLAB Recipes pp 159-176 | Cite as

Robotics

  • Michael Paluszek
  • Stephanie Thomas
Chapter

Abstract

The SCARA robot (Selective Compliance Articulated Robot Arm) is a simple industrial robot that can be used for placing components in a two-dimensional space. You will derive the equations of motion for a SCARA robot arm that has two rotational joints and one prismatic joint. Each joint has a single degree of freedom. A SCARA robot is broadly applicable to work where a part needs to be inserted in a two-dimensional space or where drilling needs to be done.

Keywords

Inverse Kinematic Control Torque Inertia Matrix Rotational Joint Prismatic Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Supplementary material

335353_1_En_7_MOESM1_ESM.zip (1.1 mb)
Ch07-SCARA (ZIP 1103 KB)

Copyright information

© Apress 2015

Authors and Affiliations

  • Michael Paluszek
    • 1
  • Stephanie Thomas
    • 2
  1. 1.PrincetonUSA
  2. 2.Princeton JunctionUSA

Personalised recommendations