The RS4-C351S is Epson’s compact SCARA robot from the RS line — a four-axis arm built around work-envelope efficiency, aimed at assembly cells where floor space is tight.
The mechanism
Three revolute joints (shoulder, elbow, and wrist yaw) plus one prismatic joint (a vertical Z-axis lift) give four degrees of freedom — the standard SCARA arrangement, no mimic joints or closed kinematic loops.
About these files — read before importing
This links directly to the official epson-robot-ros2 repository, published under Epson’s own GitHub organization. ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what Epson publishes, unmodified.