Used Peter Corke's Robotics toolbox in Matlab to apply linear with parabolic blend method to generate smooth trajectories for the SCARA robot. Animated the trajectory in Matlab. 

The goal was to choose a location for a virtual feeder that feeds chips. There is a virtual board of certain size on a different location that has 4 spots for chips to be placed. Each location requires a different orientation for the chips. 

Utilized, Peter Corke's robotic toolbox in Matlab to simulate PUMA 560 engraving letters on the surface of a cube.

Along with simulating, found Jacobian and dynamic equations for the robot assuming specified force and torque applied on the end effector.