Four Degrees of Freedom SCARA Robot Modeling and Simulation

SCARA robot for multivariable, nonlinear, it is difficult to verify the correctness of the model question paper for four degrees of freedom SCARA robot kinematics modeling, and then in the MATLAB environment, using Robotics Toolbox forward kinematics of the robot inverse kinematics simulated by the simulation, the observed motion of each joint SCARA robot status, verify the proposed model is correct, it is possible to achieve the desired goals.