ɔnðɪ ˈʌðɚ hˈænd, skˈæɹə kæn biː mˈoːɹ ɛkspˈɛnsɪv ðɐn kˈɑːmpɚɹəbəl kɑːɹtˈiːʒən sˈɪstəmz ænd ðə kəntɹˈoʊlɪŋ sˈɔftwɛɹ ɹᵻkwˈaɪɚz ɪnvˈɜːs kaɪnmˈæɾɪks fɔːɹ lˈɪnɪɹ ɪntˈɜːpəlˌeɪɾᵻd mˈuːvz.
On the other hand, SCARAs can be more expensive than comparable Cartesian systems and the controlling software requires inverse kinematics for linear interpolated moves.