28 Int. J. Modelling, Identification and Control, Vol. 15, No.

1, 2012

Modelling and simulation of a SCARA robot

using solid dynamics and verification by
MATLAB/Simulink

Mahdi Salman Alshamasin*

Department of Mechatronics,
Faculty of Engineering Technology,
Albalqa’ Applied University,
P.O. Box 15008, Amman 11134, Jordan
E-mail: mahdism@[Link]
*Corresponding author

Florin Ionescu
Steinbeis Transfer Institute Dynamic Systems,
Steinbeis University Berlin, SHB,
Theodor-Heuss-Str. 1, D-78467 Konstanz, Germany
E-mail: [Link]@[Link]
E-mail: ionescu@[Link]

Riad Taha Al-Kasasbeh

Department of Electrical Engineering,
Faculty of Engineering Technology,
Albalqa’ Applied University,
P.O. Box 541324, Amman 11937, Jordan
E-mail: rjordanjo@[Link]

Abstract: 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.

Keywords: SCARA robot; kinematic and dynamic solutions; DC servomotors; SD software;

MATLAB/Simulink.

Reference to this paper should be made as follows: Alshamasin, M.S., Ionescu, F. and
Al-Kasasbeh, R.T. (2012) ‘Modelling and simulation of a SCARA robot using solid dynamics
and verification by MATLAB/Simulink’, Int. J. Modelling, Identification and Control, Vol. 15,
No. 1, pp.28–38.

Biographical notes: Mahdi Salman Alshamasin received his MS and PhD in Automatic Control
Engineering. Currently, he is an Assistant Professor at Al-Balqa Applied University. He was a
Research Fellow of DFG Foundation at HTWG. He has published several papers in scientific
journals of applied sciences and technology. His research interests cover: speed control and
performance optimisation of single-phase and three-phase motors, modelling and simulation of
robotic systems, electric drive systems, signal processing, automatic control and biomedical
design instrumentation.

Copyright © 2012 Inderscience Enterprises Ltd.

 Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink 29

Florin Ionescu received his MS and PhD from TU-Bucharest. He is a Doctor Honoris Causa of
several European universities. In 1987, he became a Research Fellow at RWTH-Aachen and
TU-Darmstadt, and in 1991 became a Professor at HTWG-Konstanz. In 2011, he became a
Professor at Steinbeis University Berlin and in 1987, deployed research activity supported by:
AvH, VDMA, DFG, DAAD, AiF, STW and Technology Transfer for industry with STW. He is
the author of over 500 papers (Springer, Elsevier, CRC, Pergamon, ACTA, Artech, Steinbeis;
conference of: IMEKO, IFAC, IEEE, KES, ISMA, ASME, IASTED). His research fields are
machine dynamics, CAE and control, modelling and simulation (HYPAS), fault diagnosis,
robotics and drives.

Riad Taha Al-Kasasbeh holds an MS in Engineering Science and PhD in Controlling of

Biological and of Electronic Equipments. Currently, he is an Associate Professor at Al-Balqa
University. He is a member of professional organisations, an Auditor for quality of research and
education and co-author of over 40 papers (Editions: Springer, IEEE, France Taylor, IASTED,
etc). He is also a Visiting Professor along with other universities like Philadelphia University,
and Konstanz University (HTWG), Germany. He was a Research Fellow of DFG at (HTWG).
His research fields cover modelling and simulation of man machine systems, EEG signal
processing, biomedical design instrumentation, biophysics and acupuncture.

1 Introduction in this paper to demonstrate the efficiency of the proposed

method.
The motivation for the first developed robots was to release
Modelling and simulation of robot systems by using
human workers from dangerous environment. Nowadays,
various programme softwares will facilitate the process of
thousands of robots are working day and night in factories,
designing, constructing and inspecting the robots in the real
hospitals and other life fields. Robots walk, see, hear and
world. Simulation is important for robot programmers to
even gain intelligence. A large family of manufacturing
evaluate, predict the behaviour of robot, in addition to
equipment among the variety, which exists, is the one which
verify and optimise the path planning of the process
supplies the motion required by a manufacturing process,
(Ionescu et al., 2002a). Moreover, this will save time,
such as: arc-welding, spray painting, assembly, cutting,
money and play important role in the evaluation of
polishing, milling, drilling, etc. Of this class of equipment,
manufacturing automation (Ionescu and Stefanoiu, 2002).
an increasingly popular type is the industrial robot.
Being able to simulate opens a wide range of options for
Different manipulator configurations are available as
solving many problems creatively. You can investigate,
rectangular, cylindrical, spherical, revolute and horizontal
design, visualise, and test an object even if it does not exist
jointed. A horizontal revolute configuration robot, selective
(Leon, 2008).
compliance articulated robot arm (SCARA) has four
In this work, four-axis SCARA robot system for drilling
degrees of freedom in which two or three horizontal servo
task is designed and developed using SD programme as
controlled joints are shoulder, elbow and wrist. SCARA
shown in Figure 1. The structure is built depending on the
designed at Japan is generally suited for small parts
principles of solid bodies modelling with SD technology
insertion tasks for assembly lines like electronic component
(Ionescu et al., 2002b; Ionescu, 2007). To emphasise the
insertion (Das and Dulger, 2005). The need for accurate and
obtained results in SD programme, simulation by using
computationally efficient manipulator dynamics has been
MATLAB/Simulink software is carried out. The results of
extensively emphasised in recent years.
both softwares are presented and discussed.
A fast sliding mode control concept is proposed in Yu
In the paper, the equations of motion for SCARA robot
et al. (2006) to reduce the steady state tracking error. An
with the robot dynamics and the actuators-DC servomotors
open spherical joint coupling between a subassembly’s
for each joint are developed with Lagrangian formulation.
location and every robot manipulator is discussed in Yu
The paper is organised as follows: first, an introduction to
et al. (2009). It also presents a B-spline interpolation
robotics, robot kinematics is presented in Section 2. In
trajectory planning method for robot manipulators. An
Section 3, the inverse kinematics of the robot is presented.
example which demonstrates the importance of accurate
Fourthly, the dynamics is presented in Section 4. Section 5
modelling methods is the use of Timoshenko beam theory
and Section 6 give the actuator equations (actuator
(TBT) concepts to the mathematical modelling of a planar
modelling) and the transmission equations respectively for
lightweight single link flexible robot manipulator arm
the developed robot. In Section 7, the simulation and results
pinned at its actuated base and carrying a payload at its free
are presented followed by the conclusions and the
end-point (Loudini et al., 2007). Digital simulation is used
references.
30 M.S. Alshamasin et al.

Figure 1 General screen of the SD programme with (from the left to the right) menus, tool bars, tree structure, 3D window for the
constructed SCARA robot at zero position

Figure 2 D-H parameters for four-joint SCARA robot

2 Robot kinematics where Si and Ci refer to sine and cosine functions of angle
θi.
Denavit-Hartenberg (D-H) parameters for SCARA robot
specified in Figure 2 are defined in Table 1.
Table 1 D-H parameters of the robot
By using (D-H) convention, the transformation matrix
representing the position and orientation of frame i relative i θi di ai αi
to i – 1 is given by (Saeed, 2001):
1 θ1 0 L1 0
⎡ ci − si cα i si sα i ai ci ⎤
⎢s 2 θ2 0 L2 0
ci cα i −ci sα i ai si ⎥⎥
Ti i −1
= Ai = ⎢ i (1) 3 0 d3 0 0
⎢0 sα i cα i di ⎥
⎢ ⎥ 4 θ4 d4 0 0
⎣0 0 0 1 ⎦
 Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink 31

3 Inverse kinematics −nx s12 + n y c12

θ 4 = tan −1 (13)
Desired location of the end-effector of the SCARA robot is nx c12 + n y s12
given in the following form (Saeed, 2001):
⎡ nx ox ax px ⎤
⎢n 4 Robot dynamics
oy ay p y ⎥⎥
THR = ⎢
y
(2) Lagrangian equation of second order has the following
⎢n oz az pz ⎥
⎢ z ⎥ expression (Theodor and Ionescu, 2002; Mino and White,
⎢⎣ 0 0 0 1 ⎥⎦ 2002):
The final equation representing the robot is: d ⎛ ∂L ⎞ ∂L
⎜ ⎟− = QK (14)
⎡c124 − s124 0 L2 c12 + L1c1 ⎤ dt ⎝ ∂q K ⎠ ∂qK
⎢s c124 0 L2 s12 + L1s1 ⎥⎥
THR = A1 A2 A3 A4 = T40 = ⎢ 124 (3) where
⎢ 0 0 1 −d3 − d 4 ⎥
⎢ ⎥ QK generalised forces (force F or torque T)
⎣ 0 0 0 1 ⎦
qk generalised coordinates (displacement d or angle θ)
From (1, 4) and (2, 4) elements of the matrices in equations
(2) and (3), position equations are obtained as follows: L = (Ke – P) Lagrange function
K 1, 2, 3, …, n
px = L1c1 + L2 c12 (4)
Ke kinetic energy
p y = L1s1 + L2 s12 (5)
P potential energy.
From equation (4) and equation (5), we get: For SCARA robot Figure 3, kinetic and potential energies
can be written as:
s2 ±2 L L 1 − c 2 J1eq J g1 2
θ 2 = tan −1 = tan −1 2 1 22 2 2 2 (6) J m1 2 J 1
c2 px + p y − L1 − L2 K e1 = ω m2 1 = ω m1 + ω m1 + 1 ω12 + m1v12
2 2 2 2 2
Rearranging equation (4) and equation (5) yields:
=⎢
(
⎡ J m1 + J g1 ) g r21 + 1
J + m1r12 ⎤⎥  2
θ1
(15)

⎢ 2 2 ⎥
p x = ( L1 + L2 c2 ) c1 − L2 s2 s1 (7) ⎣ ⎦

J m2 2 Jg2 2 J 1
p y = L2 s2 c1 + ( L1 + L2 c2 ) s1 (8) Ke2 = ωm2 + ω m 2 + 2 ω 22 + m2 v22
2 2 2 2
Solving equations (7) and (8) by Kramer’s rule gives
=⎢
2 1 2(
⎡ J + m L2 + r 2 + 2 L r c ⎤
2 1 2 2
⎥ θ 2 )
( L1 + L2 c2 ) p y − L2 s2 px ⎢ 2 ⎥ 1
s1 ⎣⎢ ⎦⎥
θ1 = tan −1 = tan −1 (9) (16)
c1 ( L1 + L2 c2 ) px + L2 s2 p y
+⎢
(
⎡ J +J
m2 g2
g r22 +
)
J 2 + m2 r22 ( ) ⎤
⎥ θ 2
From the (4, 4) elements of the matrices in equations (2) and ⎢ 2 2 ⎥ 2
(3), we would obtain: ⎣⎢ ⎦⎥

d3 = − pz − d 4 (10) ⎣ (
+ ⎢ J 2 + m2 r22 + L1r2 c2 ⎥ θ1θ2 .
⎦ )
To solve for the angle θ4, both sides of equation (3) are J m3 2 J g 3 2 m3 + mm3 2
K e3 = θm3 + θm3 + v3
successively premultiplied with A3−1 A2−1 A1−1 matrices, such 2 2 2
that:
=⎢
( +
)
⎡ 2 J m3 + J g 3 ( m + m ) ⎤
3 m3 ⎥  2
d1
A3−1 A2−1 A1−1THR = A4 ⎢ D2 2 ⎥
⎣ ⎦
( )
⎡ ( m + m ) L + L + 2L L c ⎤
2 2 (17)
which results in: 3 m3 1 2 1 2 2
+⎢ ⎥ θ2
⎢ 2 ⎥ 1
c4 = nx c12 + n y s12 (11) ⎢⎣ ⎥⎦
⎡ ( m3 + mm3 ) 2 ⎤ 2
s4 = −nx s12 + n y c12 (12) +⎢
2 ⎣ (
⎦ )
L2 ⎥θ2 + ⎢( m3 + mm3 ) L22 + L1L2c2 ⎥ θ1θ2 .
⎣⎢ ⎦⎥
Thus,
P3 = − ( m3 + mm3 ) g × d3 . (18)
32 M.S. Alshamasin et al.

Figure 3 Model of the SCARA robot: joint connections and geometry of segments and joint positions

So, Lagrange function is: where M denotes the inertia, C, B expresses the Coriolis and
centripetal forces respectively, and G is the gravity vector:
L = K e1 + K e 2 + K e3 − ( P1 + P2 + P3 )

(
⎡ J m1 + J g1 ) J + m1r12 1
M 11 = r12 m1 + J1 + g r21 J m1 + J g1 ( )
=⎢
⎢
⎣
2
g r21 + 1
2
+ mm 2 L12
2 ( )
+ L12 + r22 + 2 L1r2 c2 m2 + L12 mm 2 + J 2

+ ( L + L + 2L L c ) ( m + mm3 ) ,
( )
2 2
J 2 + m2 L12 + r22 + 2 L1r2 c2 1 2 1 2 2 3
+
= (r + L r c ) m + j
2 2
M 12
( m3 + mm3 ) ( )
2 1 2 2 2 2
L12 + L22 + 2 L1 L2 c2 ⎤
+ ⎥ θ 2 + ( L + L L c )(m + m
2
)
2 ⎥ 1 2 1 2 2 3 m3
⎥⎦
C1 = 2 L1s2 ⎡⎣ m2 r2 + ( m3 + mm3 ) L2 ⎤⎦ ,
+ ⎢ (
⎡ J +J
m2 g2 2 )
gr 2 +
J 2 + m2 r22 ( ) (19)
⎢ 2 2 B1 = L1s2 ⎡⎣ m2 r2 + ( m3 + mm3 ) L2 ⎤⎦
⎢⎣

+
( m3 + mm3 ) 2 ⎤ 2 ⎡ ⎡
L2 ⎥ θ 2 + J 2 + m2 r22 + L1r2 c2 ⎤ ( ) (
M 21 = m2 r22 + L1r2 c2 + J 2 )
2 ⎥⎦ ⎣⎢ ⎣ ⎦
(
+ L22 + L1 L2 c2 )(m + mm3 )
( )
3
+ ( m3 + mm3 ) L22 + L1 L2 c2 ⎤ θ1θ2
⎦
(
M 22 = r22 m2 + J 2 + g r22 J m 2 + J g 2 + L22 ( m3 + mm3 ) )
+⎢
(
⎡ 2 J m3 + J g 3
+
)
( m3 + mm3 ) ⎥⎤  2
d3
⎢ D2 2 ⎥ B2 = L1s2 ⎡⎣ m2 r2 + ( m3 + mm3 ) L2 ⎤⎦ ,
⎣ ⎦
+ ( m3 + mm3 ) g × d3 .
(
4 J m3 + J g 3 )+
M3 = 2 ( m3 + mm3 )
Then torques exerted on the robot joints can be derived as: D
⎛ ⎞ G3 = ( m3 + mm3 ) g
∂ ⎜ ∂L ⎟ ∂L
T1 = − = M11θ1 + M12θ2 − C1θ1θ2 − B1θ22 (20)
∂t ⎜ • ⎟ ∂θ1
⎝ ∂θ 1 ⎠
5 Actuator modelling
⎛ ⎞
∂ ∂L ⎟ − ∂L = M 21θ1 + M 22θ2 + B2θ12
T2 = ⎜ • (21) Actuators are the devices used to move robots. Many types
∂t ⎜ ⎟ ∂θ 2 of such devices are used such as pneumatic pistons,
⎝ ∂θ 2 ⎠
hydraulic pistons, DC motors, and stepper motors to satisfy
∂ ⎛ ∂L ⎞ ∂L this function. Most of the present robots employ DC motors.
T3 = ⎜ ⎟− = M 3 d3 − G3 (22)
∂t ⎜⎝ ∂d3 ⎟⎠ ∂d3 The equations which describe the behaviour of permanent
magnet, separately or shunt wound DC motors when the
flux is constant are (Bencsik, 2004):
 Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink 33

dia L1 = 0.25 m, L2 = 0.15m and d3 = 0.075 m respectively.

Va = Ria + ea + L (23) Three identical DC servomotors were used for the robot
dt
joints with the following data (Yamacli and Canbolat,
ea = keφω m = kω ω m (24) 2008):
dω m Vs = 24v, Jm = 3.3×10−6 kg m 2 ,
T = keφ ia = kT ia = TL + J m + bω m (25)
dt K e = 0.047 V / rad / s, KT = 0.047 Nm / A,
R = 3.5 Ω, L =1.3 mH, g r1 = 90, g r 2 = 220 and D = 0.030 m.
6 Transmission equations
7.2 Procedures of simulation and results
Gears are the most common transmission elements in robot
designs. The developed model is studied with three different possible
The purpose of the gear is to reduce the transmitted simulations (Das and Dulger, 2005). The solutions can show
speed and to increase the transmitted torque to satisfy the each possible case behaving differently in the response. In
load requirements. SD, the simulation was done for the SCARA robot
A common revolute-joint transmission element in robots constructed in Figure 1 as following:
is the harmonic drive (Tahboub, 1993). These drives feature 1 The main arm is tried to be held constant
in-line parallel shafts and very high transmission ratio in (θ1 = 1.6493 rad) and the motion of the fore arm is
compact packages. observed (θ2 = 1.475–2.6178 rad). Whole trajectory is
Transmitted torque to the motor shaft can be calculated shown and animated in Figure 4(a).
as:
2 The motion of the main arm is observed
ω θ (θ1 = 3.0142–0.794125 rad), and the fore arm is tried to
T = TL g rη ⇒ T m η = T m η = TL (26)
ωL θL be kept constant (θ2 = 2.4495696 rad). Whole trajectory
is shown and animated in Figure 4(b).
Also, the transmitted inertia is
3 The motions of the main arm and the fore arm
J = J m + J L gr 2 (27) are observed (θ1 = 0.232–2.4695 rad) and
(θ2 = 1.3521–2.0944 rad). Whole trajectory is shown
For the third joint, the translational variable (linear velocity)
and animated in Figure 4(c).
can be derived as:
For these figures, both axes are given in meters representing
D 
ωm = d3 (28) the horizontal coordinates of the end effector as Px and Py.
2 In MATLAB/Simulink, simulation was carried out for
the same SCARA robot in Figure 1 according to the block
diagram of the robot system in Figure 5 which was built by
7 Simulation and results using Laplace transformation (Ogata, 1997). The same
7.1 Given data results for the three above cases were verified in Figure 6.
From these figures, it is obviously seen that the trajectory
Virtual SCARA robot was constructed by SD programme coordinates can be investigated for known angles of the
(Figure 1) with the specifications listed in Table 2, in joints (forward kinematics). Also, investigating can be done
addition to these specifications, the length of the main for joint angles by inverse kinematics.
arm (shoulder), the fore arm (elbow) and the quill are:

Table 2 Data given by SD programme for the constructed SCARA robot

# mass parameters
Body Name Mass G centre Ixx, Iyy, Izzz Ixy, Ixz, Iyz
1 Body 1 1.9874 0.11511 0.000481037 0.0
1.1 0.0179453
–0.00048086 0.0176861 –0.000756924
2 Body 2 0.917789 0.102257 0.000472827 0.0
0.0 0.00348701 0.0
0.0 0.0031443 0.0
3 Body 3 0.703604 0.0 0.00215244 0.0
0.0 0.00215244 0.0
–0.0420267 0.000114505 0.0
34 M.S. Alshamasin et al.

Figure 4 Graph of the output variables (final position) and 3D window accompanied by animation for the given inputs in 6(a), 6(b) and
6(c), respectively

(a)

(b)
 Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink 35

Figure 4 Graph of the output variables (final position) and 3D window accompanied by animation for the given inputs in 6(a), 6(b) and
6(c), respectively (continued)

(c)

Figure 5 SCARA robot modelled in MATLAB/Simulink with negative feedback of robot position

24 Voltage
Output v oltag
Supply voltage1 motor angle theta1 motor theta1 theta1 T1
Position
load torque
Saturation1
PD Controller1 DC Motor 1 Gear 1 -C-
24 Voltage initial theta1
T2
Output v oltag
Supply voltage2 motor angle theta2 motor theta2 theta2
Position
load torque

PD Controller2 Saturation2
DC Motor 3 Gear 2 1.475
T3
24 Voltage
initial theta2
Output v oltag
Supply voltage3 motor speed motor speed d3 d3
Position
load torque

PD Controller3 Gear 3 Saturation3

DC Motor 2 Px
0

initial d3
0 d1
Py
d1
Horizontal trajecto

0 d4 Pz
positions
d4
SCARA Robot1
36 M.S. Alshamasin et al.

Graphs obtained by SD programme in Figure 7 show the Figure 7 Motor toques exerted on the robot joints (1 and 2) to
motor torques exerted on the first and second joints of the satisfy the required angles
robot to satisfy the joint angles and hence the specified
positions of the end effecter.
The facilities of the SD programme used for kinematic
and dynamic simulation of robot systems were emphasised
which means that we can use this powerful and useful tool
confidently in visualisation, predicting, analysing and
improving of robot systems.

Figure 6 Graphs of the output variables (final position)

using MATLAB/Simulink for input variables,
(a) θ1 = (1.6493) rad and θ2 = (1.475–2.6178) rad
(b) θ1 = (3.0142-0.794125) rad and
θ2 = (2.4495696) rad (c) θ1 = (0.232–2.4695) rad
and θ2 = (1.3521–2.0944) rad, respectively

(a)

(a)

(b)

(b)

(c)

8 Conclusions
In the paper, a complete mathematical model of SCARA
robot was developed including servo actuator dynamics.
(c) Forward and inverse kinematics was studied using
D-H notation. The equations of motion were derived using
 Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink 37

Lagrangian mechanics. By using SD programme, structure Leon, Z. (2008) ‘Simulation in robotics’, Mathematics and
for the SCARA robot was built and simulation was carried Computers in Simulation, Vol. 79, pp.879–897.
out using both SD and MATLAB/Simulink software. SD Loudini, M., Boukhetala, D. and Tadjine, M. (2007)
programme enables researchers to investigate robot ‘Comprehensive mathematical modelling of a lightweight
flexible link robot manipulator’, International Journal of
parameters and in turn, this will facilitate the process of
Modelling, Identification and Control, Vol. 2, No. 4,
designing, constructing and inspecting the robots in the pp.313–321.
real world. An agreement between the SD and the Mino, J. and White, A. (2002) ‘Modelling an industrial
MATLAB/Simulink results was certainly obtained herein. manipulator: a case study’, Simulation Practice and Theory,
Knowing the torques exerted on the joints and the angles Vol. 9, pp.293–319.
of these joints (by using SD software), designers can select Ogata, K. (1997) Modern Control Engineering, 3rd ed., Prentice
the suitable motors without doing further calculation which Hall.
results in saving time and money. Saeed, B. (2001) Introduction to Robotics, Analysis, Systems,
As a consequence of the presented features and of the Applications, Prentice Hall Inc., New Jersey.
authors experience in modelling and simulation with Tahboub, K. (1993) ‘Modeling and control of constrained robots’,
technologies with the SD programme, one can conclude that Dissertation for PhD, University of Wuppertal, Germany.
this technique is a very powerful and useful tool, useful both Theodor, B. and Ionescu, I. (2002) Robot Modeling and
for visualisation with the improvement of user’s capacity Simulation, Editor AGIR and Editora Academiei Romane,
of representation, as well as for important gain of Bucharest.
technological information in the design and optimisation. Yamacli, S. and Canbolat, H. (2008) ‘Simulation of a SCARA
The presented results underline that robot systems robot with PD and learning controllers’, Simulation Modelling
independently of their complexity and dimensions can be Practice and Theory, Vol. 16, pp.1477–1487.
easily modelled, their behaviour can be simulated, analysed, Yu, J., Fang, Q. and Ke, Y. (2009) ‘Trajectory planning of
and optimised with good results. multi-robot coordination platform for locating large
subassembly’, International Journal of Modelling,
Identification and Control, Vol. 6, No. 4, pp.357–366.
Yu, S., Guo, G., Ma, Z. and Du, J. (2006) ‘Global fast terminal
Acknowledgements sliding mode control for robotic manipulators’, International
The paper presents results of research project performed in Journal of Modelling, Identification and Control, Vol. 1,
No. 1, pp.72–79.
Germany. The project was supported and funded by German
Research Association (DFG), Jordanian Higher Council for
Science and Technology, Al-Balqa’ Applied University and
Konstanz University of Applied Science (HTWG). We Nomenclature
would like to thank and acknowledge all these organisations J1, J2 Moment of inertias of the main and the for arm
for their financial and logistic support. (kg m2)
Jm Motor inertia (kg m2)
Jg1, Jg2 Inertias of the gearbox 1 and 2 (kg m2)
References
Va Armature voltage
Bencsik, A. (2004) ‘Appropriate mathematical model of DC servo
motors applied in SCARA robots’, Acta Polytechnica La1, La2 Armature inductances of motor 1 and 2 (H)
Hungarica, Vol. 1, No. 2, pp.99–111. R Armature circuit resistance (Ω)
Das, M.T. and Dulger, L.C. (2005) ‘Mathematical modelling, φ The flux per pole
simulation and experimental verification of a SCARA
T Electromagnetic torque developed by the motor
robot’, Simulation Modelling Practice and Theory, Vol. 13,
(Nm)
pp.257–271.
B Damping ratio of the mechanical system
Ionescu, F. and Stefanoiu, D. (2002) ‘HYPAS – a modular
structured model design, simulation and control programming ke Electromotive force constant
environment’, Proceed. of the IASTED Intern. Confer. on kT Torque constant (in Nm/amp)
Artificial and Computational Intelligence, pp.324–329,
Tokyo, Japan. kω Speed constant (v\rad\s)
Ionescu, F., Chojnowski, F. and Constantin, G. (2002a) ‘Virtual m1, m2 Masses of the main and the fore arms (kg)
reality in mechanical engineering, modelling and simulation L1, L2 Lengths of the main and the fore arms (m)
with solid dynamics’, ARA-Journal, Vol. 2002, No. 27,
pp.81–88. px, py Horizontal robot coordinates (m)
Ionescu, F., Stefanoiu, D. and Vlad, C. (2002b) ‘Modular θ1 ,θ1 ,θ1 Angular displacement, velocity and acceleration of
structured model design, simulation and control of hydraulic the main arm (rad, rad/s, rad/s2)
and pneumatic drive systems by using HYPAS’, θ 2 ,θ2 ,θ2 Angular displacement, velocity and acceleration of
ARA-Journal, Vols. 2000–2002, Nos. 25–26, pp.168–177, the fore arm (rad, rad/s, rad/s2)
ISBN 3-00-011583-8.
d3 , d3 , d3 Translational displacement velocity and
Ionescu, I. (2007) ‘Modeling and simulation in mechatronics’, acceleration of the quill
IFAS Inter. Confer. MCPL, Sibiu, Romania.
38 M.S. Alshamasin et al.

Nomenclature (continued)
gr Gear-reduction ratio
η Efficiency of the system
θm Angular position of the motor (radian)
D Warm wheel diameter
θL Load angular position