NXT SCARA (Two-Link Planar Robot Arm) Controller Design

NXT SCARA Model-Based Design based on Embedded Coder Robot NXT.
Updated 26 Feb 2009

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NXT SCARA is a two-link planar robot arm built with LEGO Mindstorms NXT. SCARA stands for Selective Compliant Assembly Robot Arm. Please refer the following URL to know more detailed information about SCARA.


This demo presents sample models and documents describe the following contents.

How to Build NXT SCARA
Geometric Model and Inverse Kinematics
Trajectory Making
Controller Design for Tracking Control
NXT SCARA Model Illustration
Simulation and Experimental Results

You can simulate NXT SCARA model and generate controller program that can be executed on the NXT. Furthermore, you can watch movies of NXT SCARA simulation and control experiment at the following URL.


This demo requires Embedded Coder Robot NXT Demo as MBD environment. You need to download it from the following URL before trying this demo.


LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this demo. LEGO(R) and Mindstorms(R) are registered trademarks of The LEGO Group.

Cite As

Yorihisa Yamamoto (2024). NXT SCARA (Two-Link Planar Robot Arm) Controller Design (https://www.mathworks.com/matlabcentral/fileexchange/22126-nxt-scara-two-link-planar-robot-arm-controller-design), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2007b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes

Added japanese documents

modified document slightly