Title:

In-Depth Analysis of Kinematic, Dynamic, and Control Aspects in a 4-axis SCARA

Robot Manipulator

1. Introduction:
Brief overview of the significance and scope of the study.

2. Kinematic Analysis:
2.1 Forward Kinematics: Visualization of the robot's end-effector position given joint angles.

2.2 Inverse Kinematics: Representation of the process to determine joint angles for a desired end-
effector position.

2.3 Differential Kinematics: Visual explanation of how joint velocities contribute to end-effector
motion.

3. Jacobian:
3.1 Singularity Analysis: Graphical representation of singularities in the Jacobian matrix.

3.2 Velocity Propagation: Visualization of how joint velocities influence end-effector velocities.

4. Dynamic Model:
4.1 Lagrangian Method: Graphic illustrating the application of the Lagrangian formulation for
dynamic modeling.

4.2 Newton Euler Method: Visual representation of the dynamic equations derived using the
Newton-Euler method.

5. Motion Control Model:

5.1 Kinematic Control: Diagram showing the kinematic control strategies employed.

5.2 Dynamic Control: Visual representation of dynamic control techniques utilized.

6. Conclusion:
Summary of key findings and contributions.