SCARA Robot Kinematics & Closed-Loop Control

A C implementation of SCARA robot forward/inverse kinematics using Denavit-Hartenberg parameters, PID-based motion control with trajectory generation, real-time simulation, and a Python visualization dashboard.

Features

• Forward Kinematics (FK): Compute end-effector pose (x, y, z, yaw) from joint states using D-H transformation matrices
• Inverse Kinematics (IK): Compute joint targets from desired pose with elbow-up/down solutions
• PID Control: Per-joint PID controllers with anti-windup and rate limiting
• Trajectory Generation: Trapezoidal velocity profiles for smooth motion
• Real-time Simulation: 500 Hz deterministic control loop with first-order motor dynamics
• Python Dashboard: 2D/3D visualization with live telemetry

SCARA Configuration

Classic 4-DOF SCARA robot:

• θ₁: Base rotation (revolute)
• θ₂: Elbow rotation (revolute)
• d₃: Vertical extension (prismatic)
• θ₄: Wrist rotation (revolute)

Building

# Build main executable
make

# Run tests
make test

# Clean build artifacts
make clean

Running

# Start C simulation server
./build/scara_sim.exe

# In another terminal, start Python UI
cd python_ui
pip install -r requirements.txt
python main.py

Project Structure

├── include/scara/    # Header files
├── src/              # C source files
├── tests/            # Unity test framework & tests
├── python_ui/        # Python dashboard & visualization
├── Makefile          # Build system
└── README.md

License

MIT License