Virtual simulation of a SCARA robot in Unity3D

This paper presents the development of a virtual model of an industrial SCARA robot using Unity3D. It covers the preparation and importing stages of the robot's 3D model, the organization of its kinematic structure utilizing different approaches, including Parent-Child hierarchy, Joints, and Articulation Body components. Algorithms for manual and automatic control based on forward and inverse kinematics solutions are described, alongside motion trajectory implementation through linear interpolation and G-code programming. The article highlights the practical and educational value of the developed virtual model and its potential for learning and preliminary testing of control algorithms.