A 2R Actuator or SCARA Arm is a simple robotic system that controls a robotic arm similar to a human arm in 2D.
To determine the final position of the endpoint (end effector), you add the vectors of the segments in polar form. Each point (x, y) can be obtained as 2 possible sums of segment vectors. This is called “Forward Kinematics”
To do the reverse and determine possible segment vector combinations that reach an endpoint is called “Inverse Kinematics”
This has many applications in industrial robotics, especially when extended to 3D with 6-axis robots such as my Verso Robotics Arm (versorobotics.com)
This program is designed to simulate and animate the inverse kinematics of a SCARA (Selective Compliance Assembly Robot Arm) robot.
This script sets up a SCARA robot with specified link lengths, allowing a user to test different types of movements (linear angle, linear path, path following), and both simulates and animates these movements. The code demonstrates various aspects of SCARA robot control, from simple point-to-point motion to following complex paths delineated by the user.
This is a comprehensive tool for exploring and visualizing the principles of inverse kinematics in SCARA robots, showcasing how these robots can be programmed to move in precise, controlled ways.
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