Scarakins is INCORRECT!!!

Many users encounter issues when operating SCARA robots in real-world scenarios, including joint following errors, motor jolts, joint value shifts after homing, and the robot's inability to operate in negative space. These problems often stem from inaccuracies in the inverse kinematic equations. For example, modifying the home position to 30 in the SCARA configuration file (available at: github.com/LinuxCNC/linuxcnc/blob/master...vial/scara/scara.ini ) can cause joint 1 and joint 3 values to change after homing, leading to joint following errors or motor jolts.To address these issues, I created a modified version of the configuration. This version corrects the inverse kinematic calculations and includes adjustments to how the Z-axis is calculated for my specific use case.