MATLAB Recipes pp 159-176 | Cite as


  • Michael Paluszek
  • Stephanie Thomas


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.


Inverse Kinematic Control Torque Inertia Matrix Rotational Joint Prismatic Joint 
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Supplementary material (1.1 mb)
Ch07-SCARA (ZIP 1103 KB)

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© Apress 2015

Authors and Affiliations

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

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