Modeling and Kinematic Simulation of SCARA Robot Based on CoppeliaSim

This study presents accurate modeling and kinematic simulation of a SCARA robot using CoppeliaSim. By analyzing the mechanical structure with Modified Denavit Hartenberg parameters, homogeneous transformation matrices were constructed. Forward kinematics was validated through programming, while inverse kinematics was efficiently solved using iterative methods. Simulation results confirm high accuracy in pose control and computational efficiency. The CoppeliaSim-Based approach reduces development risks and costs, providing a scalable framework for multi-degree-of-freedom robotic systems. This work offers a practical, cost-effective methodology for virtual prototyping and kinematic verification in robotics.