{'fraction_non_alphanumeric': 0.017837235228539576, 'fraction_numerical': 0.0, 'mean_word_length': 4.907894736842105, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
The Kinematic Analysis of the SCARA on MATLAB

The paper shows analysis of the three-axis motion control system. The main structure of the simple SCARA was described. The relationship between the forward and inverse kinematics of the SCARA was shown. To describe the position of all components of the SCARA, the calculation process of homogeneous transformation matrix was given. The coordinate of target object obtained by the vision guidance was transformed into the coordinate based on the basic frame. The process of inverse kinematic equations were given. According to the kinematic analysis, the block diagram for simulation was created on MATLAB. To verify the performance of the kinematic equations, the signal source of target object was created. The results of simulation were shown. From the obtained result, the position of the SCARA's end actuator and target object were well matched.