function [t1, t2, d3, t4] = Scara_Geoinv(x, y, z, psi)
        t2 = [acosd((x^2+y^2 - 2)/2), -acosd((x^2+y^2 - 2)/2)];
        t1 = [atan2d(y,x) - atan2d(sind(t2(1)), 1 + cosd(t2(1))), atan2d(y,x) - atan2d(sind(t2(2)), 1 + cosd(t2(2)))];
        d3 = 0.9 - z;
        t4 = [psi + t2(1) + t1(1), psi + t2(2) + t1(2)];
        t1 = t1(1);
        t2 = t2(1);
        t4 = t4(1);
    end