Mathematical modelling, simulation and experimental verification of a scara robot

A complete mathematical model of SCARA robot (Serpent 1) is developed including servo actuator dynamics and presented together with dynamic simulation in this paper. The equations of motion are derived by using Lagrangian mechanics. Dc servo motors driving each robot joint is studied with PD controller action. Serpent 1 robot is instructed to achieve pick and place operations of three different size cylindirical objects through assigned holes. The performance of robot-actuator-control system is examined with numerical simulation and experimentally verified. The results of experimentation are given with comments. An agreement between the model and the experiments is certainly obtained herein.