Software Implementation of a 4-Axis Selective Compliance Assembly Robot Arm (SCARA) for the Determination of Various Possible Sets of Joint Variable Vectors to Reach the Goal

In this paper, the software implementation of a 4-axis Selective Compliance Assembly Robot Aram (SCARA) for the determination of various possible sets of joint variable vectors to reach the goal is presented. This MATLAB code implements the inverse kinematics of a SCARA robot to generate and simulate a linear trajectory in three-dimensional space. The SCARA robot's parameters, including link lengths and end-effector dimensions, are defined, and a trajectory is generated by specifying desired points in the XYZ space. Inverse kinematics calculations are performed to determine the corresponding joint angles for each point in the trajectory. The code also includes optional forward kinematics to validate the results by computing the end-effector position. The trajectory is visualized through a three-dimensional plot.