KINEMATIC ANALYSIS AND TRAJECTORY PLANNING OF A TWO-LINK SCARA ROBOT

This paper presents a comprehensive kinematic analysis of a two-link SCARA-type manipulator, focusing on the trajectory planning of its end-effector along a circular path. Using the FANUC SR-3iA/U as a reference platform, both inverse and forward kinematics were analyzed, with MATLAB simulations performed to generate smooth motion profiles based on fifth-order polynomial interpolation. The results demonstrate the manipulator’s capability to execute precise, continuous trajectories while operating within workspace constraints.