Direct kinematics of a SCARA robot (left) - simulation done with <a href="https://en.wikipedia.org/wiki/MeKin2D" class="extiw" title="wikipedia:MeKin2D">MeKin2D</a>
<a href="//commons.wikimedia.org/wiki/User:Pasimi" title="User:Pasimi">Pasimi</a>
CC BY-SA 3.0
<span class="int-own-work" lang="en">Own work</span>