Qais Alwalede (0162827),

Design, construction, and control of a SCARA

Mahmoud Diab (),
manipulator with 6 degrees of freedom
Abdul Rahman Hamid (),

Talal Khader ()

Abstract— the robotic design and unlike humans. In the process to do so, they do not
implementation is described as its the lose their precision, effectiveness or do not fail, as
mechanical and physical platform through they are powerfully developed and robust. So it
which many techniques and control methods has become necessary to study, improve and
can be compared and studied. The presented design such systems which can profit the users.
robotic design consists of many electrical and The motivation behind this work is due to the
mechanical control systems which are designed forceful need of having a real-time platform which
in a graphical interface and helps peers to carry further studies and performs validations.
control the robot by using the created paths. Thus, implementing the robot manipulator with 6
Below presented is the idea behind construction DOF has allowed improved control systems and
of such a robot along with comparison of helped in controlling the systems [1].
methods and related work. The communication
of robotic system is carried out using various II. RELATED WORK
control systems and microcontrollers discussed Some researchers, designed a method for
so and forth. modelling of the industrial robots, having dynamic
approach in manipulation of the systems having
I.INTRODUCTION
motion. This method took the dynamic model
From the past few years, robotics has played vital from the machine area of the robot and noticed the
role in automation of processes using robotic moving effect of the actuators which acted at the
manipulators and been a leading role in developing joints of the robot. For a four-degree robot a
many productive areas. Nowadays, variety of tasks moving model of configuration was obtained. This
are automated using the industrial robots which was the three-degree freedom that allowed to place
helps in assembling tasks, transferring materials, the end of robot having effectors. The Lagrange
welding tasks, cutting of materials in a precise method was used for having the dynamic equations
manner, painting and many related work. in a matrix. The manipulator is set of bodies
Generally, the industrial robots are used in having some joints connected together in kinetic
carrying out jobs which have a repetitive nature pairs. A computer simulation program in
and which require precision. These robots have FORTRAN language was used for computation of
improved the product efficiency and quality of the matrices in the model [2].
manufacturing processes. This is the reason due to Moreover, a designed scara robot with a special
which the industrial robots are used in the latest algorithm of sorting and packaging. This robot
processes of production. Moreover, these robots was specifically designed for tobacco industry to
can perform tasks in few hours and do not get tired save the productivity of labor, improving
 efficiency of production [3].
 With growth in society, many manufacturing  Moving the joint R2 to −135◦
industries have changed their manual operations to  Energizing the drivers of the sensors
six degree of freedom robot with automated tasks. b) Control software
The designed robot had embedded systems for  a closed loop control is applied in the DC
controlling the robot. Many software was motors.
developed which included the teaching module,  closed loop control is applied in the
playback module and interfaces with alarms and servomotors and the use of the position
logs [4]. control system is made.
 On-Off control is incorporated in the
I. PROBLEM STATEMENT clamps, having as feedback the signal
generated by force sensor.
With the growing needs and population, industries
c) Trajectory generation
are facing much load which as a result makes their
 Trajectory programming boxes in each
labor tired and hampers their work, so in such
joint are programmed.
situations scara robots are most commonly
 Buttons are inserted to take robot to initial
designed and used for picking and placing the
position.
items and fulfilling the assembly operations where
the speed is high and work is done in an effective  Buttons are inserted to take robot to default
and accurate manner. The need of designing such a initial position.
robot was to cause improvement in the speed and  Buttons are inserted to visualize the curves
reliability on pick and place tasks. This would of programmed trajectories
speed up and improve the steps which are involved  Button inserted which start the execution of
in assembly. the Simulink model.
 Button that allows stopping the execution
II. ALGORITHMS & THEORY of the Simulink model.
The technique used for design in the selected paper
III.SIMULATION/EXPERIMENTAL
is decoupled control. This is chosen as the aim is
to validate the functioning of the robot in a correct RESULTS
manner. This control method is easy to implement The test which were conducted with the robot had
as it does not consider the perturbations which are application of the trajectories with the joints at
generated among the joints of the robot and every various speeds. The feedback controls were
joint is controlled independently by using a PID checked independently and a final test was
controller embedded in each joint [5]. conducted which comprised of programmed tasks
a) Initialization by interface with function testing of all the joints. The green
The below algorithm is used for allowing line shows application of 60 degrees’ robot and
initialization of robot: blue line shows performance of the robot [5].
 De-energizing of the sensor drivers
 Opening of the clamp
 Positioning the joint R5 at 0◦
 Positioning the joint R4 at 0◦
 Raising the prismatic joint P3 at a
minimum distance of 0 mm
 Moving the joint R1 to 135◦
 Figure 1 response of joints of robot (source: journal of
applied research and tech)

I. BENEFITS OF
METHODS/COMPARISONS
Table 1comparison of methods

METHODS ADVANTAGES DISADVANTAGES

Decoupled it does not take into Other
Joint consideration the components do
Control perturbations not have
generated between the knowledge of
robot’s joints and the used
each joint is components.
controlled in an
independent way
commonly by using
single PID controller
per joint[1].
Computed the main benefit of -------------
Torque this technique is that
 dynamic coupling
between the joints can
be considered while
designing [2].
Adaptive Adaptive control The stability of
Control useful as it provides the system has
capability of the no rigorous
system to modify its treatment. The
own operation to gain high gain
the best possible should avoid
results[3]. full state of the
measurements.

Gain defines the strength It is very time

Scheduling of controller response consuming as
or Gain experienced in the parameters
Planning relation to a deviation have to be
between the input and considered for
output signal[1]. all the
conditions Figure 2. Programmed
operated. trajectoriesforsimultaneoustasks by the robotized
manipulator. source:(journal of applied research
Adaptive ---------------- and tech)
Computing They are used to
Pair change parameters of II. SUMMARY AND FUTURE WORK
Controller the controllers to have The SCARA manipulator with 6 degrees of
adaption in changed
freedom robot was designed and implemented but
environment by
increasing the now it is physically available with many
computations [4]. controlling techniques which are tested and studied
in detail. The Pc controller software which is

Robust It ensures that the ---------------- developed is same like the regular electronic
Control design explicitly deals interface and is very complex but allows optimum
with all the functions to be carried out. This software allows
uncertainties [5].
generation of many trajectories for the robot. In
future many mechanical, electronic, and control
systems can be bonded together to produce best
results which can be materialized through the
robots.
III. REFERENCES
[1] Ben-Gharbia, K. M., Maciejewski, A. A., &
Roberts, R. G. (2014). A kinematic analysis and
evaluation of planar robots designed from
optimally fault-tolerant Jacobins. IEEE
Transactions on Robotics, 30(2), 516–524.
http://dx.doi.org/10.1109/TRO.2013.2291615
[2] Dynamic Modelling Of A SCARA Robot
NASA Astrophysics Data System (ADS) Turiel, J.
Perez; Calleja, R. Grossi; Diez, V. Gutierrez 1987-
10-01

[3] Research of grasping algorithm based

on scara industrial robot NASA Astrophysics Data
System (ADS) Peng, Tao; Zuo, Ping; Yang, Hai
2018-04-01

[4] Development of 6-DOF painting robot control

system NASA Astrophysics Data System (ADS)
Huang, Junbiao; Liu, Jianqun; Gao, Weiqiang
2017-01-01

[5] Design, construction and control of a SCARA

manipulator with 6 degrees of freedom Claudio
Urrea ∗, Juan Cortés, José Pascal Universidad de
Santiago de Chile, Santiago, Chile Received 18
May 2016;