Inverse Kinematics of SCARA Robot

These files implement Multibody Model of a SCARA robot and its Inverse Kinematics through Robotics System Toolbox.

The Start file loads the SCARA Multibody Model in form of a Rigid Body Tree. This Rigid Body Tree is used by the Robotics System Toolbox for calculation of Inverse Kinematics and Forward Kinematics. The IK_SCARA Simulink file generates a pick and plance trajectory in workspace of the SCAR robot and give that trajectory to the Inverse Kinematics Block. The Inverse Kinematics block converts the workspace trajectory into a Joint space trajectory and give it to the robot model. The robot moves on the provided trajectory. The joint position sensors measure the joint angles and provide those to the Forward Kinematics block. The joint angles are then converted to the end-effector workspace positions. These positions are compared with the generated trajectory from the trajectory generator to establish the movement accuracy.

The video on the whole process is available at https://youtu.be/9746YIQpo5I