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. We will derive the equations of motion for a SCARA robot arm. It has two rotational joints and one prismatic joint. A prismatic joint allows only linear motion. 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.
Our input to the robot ...
