🦾 SCARA Robot Simulation Suite

Welcome to the documentation for the SCARA Robot Simulation & Control Suite — a real-time simulation and control platform for SCARA-like parallel robots. This system supports both Software-in-the-Loop (SIL) and Hardware-in-the-Loop (HIL) workflows.

🚀 What’s Inside

✅ PyQt5 GUI with 3D visualization (via PyVista)
✅ Symbolic dynamics using the Equivalent Point Mass (EPM) method
✅ MPC and PID-based torque-level inverse dynamics control
✅ Adaptive RK4 simulation and real-time fixed-step HIL
✅ Cross-platform compatibility (Windows / Linux / macOS)
✅ CSV-based trajectory buffering, export, and replay

📘 Documentation Topics

Read Me: Project setup and overview
Control Architecture: Server loop, SIL/HIL logic, and PID/MPC control
Kinematics & Dynamics: Symbolic model, IK, Jacobians, and dynamic simplification
Server protocol: C++ Server / Python Client protocol

🧰 Getting Started

To run the project:

# Windows
launcher.bat

# Linux/macOS
chmod +x launcher.bash
./launcher.bash

For development mode:

pip install -r requirements.txt
python SCARA.py

📫 Questions or Feedback?

Feel free to open an issue or discussion on the GitHub repository.