Inverse Kinematics and Velocity Kinematics of a 3DOF SCARA

Version 1.0.0 (94.2 KB) by Rzi Abbas
Models 3DOF SCARA Robot, drive it on workspace trapezoidal velocity profile using inverse kinematics and solves velocity kinematics as well.
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Updated 17 Apr 2025

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These files model a 3DOF SCARA robot, generate trapezoidal velocity profile trajectory and drives the robot using inverse kinematics on it. Moreover, velocity kinematics are implemented that calculates the Jacobian and figures the end-effector velocity and compares it with the reference velocity.
How to run:
1- Run the 'start.m' file to load the robot's rigid body tree and waypoint matrix.
2- Run the SLab3.slx to run the simulation.
Make sure all the files are placed in the same working folder.

Cite As

Rzi Abbas (2025). Inverse Kinematics and Velocity Kinematics of a 3DOF SCARA (https://uk.mathworks.com/matlabcentral/fileexchange/180820-inverse-kinematics-and-velocity-kinematics-of-a-3dof-scara), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2024b
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes
1.0.0