SCARA Robot

Geometry & Kinematics

1. 01SCARA architecture (RRP)
2. 02DH modeling
3. 03FK & IK derivation
4. 04Cylindrical workspace
5. 05Singularities
6. 06Compliance & stiffness
7. 07High-speed motion profiles
8. 08Repeatability vs accuracy
9. 09Joint calibration
10. 10Tool frame setup

Assembly & Precision

1. 11Electronics assembly workflows
2. 12Press-fit operations
3. 13Peg-in-hole strategies
4. 14Vision alignment
5. 15Conveyor synchronization
6. 16Micro-assembly tolerances
7. 17Error compensation
8. 18High-speed pick & place
9. 19Cycle-time optimization
10. 20Quality control

ROS 2 & Automation

1. 21URDF SCARA modeling
2. 22MoveIt kinematics plugin
3. 23Trajectory execution
4. 24PLC integration
5. 25SCADA monitoring
6. 26Gazebo SCARA simulation
7. 27Vision pipeline
8. 28Calibration routines
9. 29Safety zones
10. 30Full assembly cell project