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

version (10.9 MB) by Yorihisa Yamamoto
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.

Comments and Ratings (7)


hi, it doesn't work. Why?!?!?!?

Thanks Takashi i already make it work, the main issue was that matlab/simulink 2012a request to add NXT support via "ECRobotInstaller – Simplified installation" in order to recognize all the files, after the instalation also need the "" command to update the system after all that is when it work

Hi Luis,

The error is the known one which is caused by changes on Simulink Data Object in 2012a
As MATLAB command window tells,
And restart MATLAB will solve it.

prety complicated design , just the simulink model give me an error on matlab/simulink2012

Block Error EnterButton Interface Error evaluating'InitFcn' callback of Enter Button Interface block (mask) 'nxtscara_controler/Enter

Model error unknown Undefined function or variable 'NXT.Signal'

that same error with all the interfaces,
plese some help

for help me to download


actually its a wonderfull work and i would like to thank you very much for publishing it


Added japanese documents

modified document slightly

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