Development of a SCARA Robotic System for Precision Pick-and-Place in Flexible Manufacturing using Embedded Motion Control

Flexible manufacturing systems demand automation solutions that are both adaptable and precise, especially for repetitive operations such as pick-and-place. This paper presents the development of a Selective Compliance Articulated Robot Arm (SCARA) robotic system tailored for high-speed and high-precision pick-and-place tasks in dynamic manufacturing environments. The system is built around an embedded motion control architecture utilizing a low-cost STM32 microcontroller, enabling real-time coordination of joint movements and end-effector operations. A comprehensive kinematic model and inverse kinematics algorithm have been implemented to ensure accurate joint-level control, while the mechanical structure ensures rigidity and compliance in the desired planes. Experimental validation was performed across various test cases involving different weight. Results demonstrate consistent positioning accuracy, fast cycle times, and reliable repeatability, making the system suitable for industrial automation, research, and prototyping. The modular design further supports reconfigurability, allowing the SCARA system to be integrated into a wide range of small to medium-scale flexible manufacturing setups.