Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink

A complete mathematical model of SCARA robot was developed and presented in this paper including servomotor dynamics and dynamics simulation. The equations of motion were derived by using Lagrangian mechanics. Direct current (DC) servomotor driving each robot joint was studied and modelled. SCARA robot was constructed to achieve drilling operation using solid dynamics (SD) software. The performance of the robot-actuator system was examined with solid dynamic simulation and verified with MATLAB/Simulink. The results of simulations were discussed. The facilities of the programmes (investigate, design, visualise, and test an object even if it does not exists) used for kinematic and dynamic simulation of robot systems were emphasised.