Name		Name	Last commit message	Last commit date
irb930-gripper		irb930-gripper
plots		plots
scripts		scripts
.gitignore		.gitignore
.python-version		.python-version
LICENSE		LICENSE
Q1.mat		Q1.mat
README.md		README.md
SCARA_T2_PID.slx		SCARA_T2_PID.slx
pyproject.toml		pyproject.toml
uv.lock		uv.lock

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SCARA Manipulator Simulation

SCARA_T2_PID.mp4

Setup

uv sync

Generate Plots

uv run python scripts/generate_plots.py

Outputs PDF plots to plots/.

Data

Place MATLAB data file (info.mat) in scripts/.

Expected variables: time, q1, q1ref, q2, q2ref, prismaArt, prismaRef, prismaOp, gripperL, gripperR, x, y.

License

Authors

Alvaro J. Gaona
Peter Pasuy-Quevedo

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Simscape simulation of an ABB IRB 930 SCARA manipulator

manipulators pid planning robotics scara simscape simulink trajectory-generation trajectory-tracking

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