Scara Kinematics

A Scara Kinematics behavior calculates the forward and inverse kinematics of a Robot Controller for a SCARA type robot in which the wrist is defined in one axis (generally the Z-axis) and has two possible configurations (Left and Right).

Properties

Name	Description
Name	Defines the name of the kinematics.
L12X to L04Z	Defines the offset between two joints in a given axis. L12X Refers to the offset between the first and second joints along X-axis. L23X Refers to the offset from second joint to third joint along X-axis. L04Z Refers to the offset from the robot's base to the TCP along Z-axis.
ConfigName1 to ConfigName2	Defines the names of configurations for the robot's arm. Different robot types may use different naming conventions for the same configurations.
JointSign1 to JointSign4	Defines which direction is the positive direction of a joint, for example if you flip joint rotation from clockwise to counter-clockwise.
JointZeroOffset1 to JointZeroOffset5	Defines the joint-zero pose of the robot (arm-up space). JointZeroOffsets are used as a kinematic solution for determining the robot's pose when its joints are at zero value. Different robot vendors tend to use different joint zero positions for robots.

Note: This is updated version. Some old models might still use Scara Kinematics (old).