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Modelling and PID Control of Scara Robot

Conference Paper · December 2017

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International Conference on Engineering Technologies (ICENTE’17), Dec 07-09, 2017 Konya, Turkey

Modelling and PID Control of Scara Robot

M.A. ŞEN1, V.BAKIRCIOĞLU2 and M. KALYONCU3
1
Selçuk University, Konya/Turkey, marifsen@selcuk.edu.tr
2
Aksaray University, Aksaray/Turkey, vbakircioglu@aksaray.edu.tr
3
Selçuk University, Konya/Turkey, mkalyoncu@selcuk.edu.tr

The SolidWorks model [11] of the scara robot show in

Abstract – Designing and control a robot manipulator with
great performance is one of the fields of interest in the industry.
In this paper, a scara robot is dynamically modeled and position
control with PID controllers is realized. The main aim of this
study, perform a scara robot position control in
MATLAB/SimMechanics. Firstly, the computer aided design
(CAD) model of the system which is built SolidWorks exported to
MATLAB/SimMechanics environment. Then, applied PID
controller to the system to ensure position control of joints in
desired references in MATLAB/Simulink. The simulation
performed and the results given graphical form to define
performance of PID controllers.
Keywords – Scara Robot, Modelling, MATLAB/SimMechanics,
MATLAB/Simulink, PID control.
Figure 1. The computer aided design (CAD) model of
proposed the scara robot is created by using SolidWorks
program and exported to MATLAB/SimMechanics
environment with physical parameters. To achieve different
type modeling technique without mathematical equations,
used MATLAB and Solidworks programs. Later, for position
control of the scara robot, four PID (proportional-integral-
derivative) controllers are designed in MATLAB/Simulink.
The gain of PID controllers determined with trail-error
methods. Finally, the system simulated and obtained result are
given graphical form to show performance of controllers.

I. INTRODUCTION

S cara robot is one of the challenging fields in industrial

automation systems. Scara robots are generally used in
positioning and handling devices in industrial applications.
New technology studies improved the performance of control
strategy of scara robot which can be used to replace human in
hazardous, complex and boring tasks. Many researchers focus
to study the improvement of the robot controller. Because of
the nonlinearities and complex physical structure, modelling
and control is a main problem for scara robots. Generally,
different types of robot controller give different output
performance of robot movement. Most controllers applied the
scara robot such as PID, Fuzzy Logic Controller (FLC) and
also the combination of the three controllers.[1]
In literature review, different studies are realized about
scara robots. But the most important and similar studies are Figure 1: The CAD model of the scara robot
considered and given in this paper. Dynamic modeling and
control of Scara type robotic systems is investigated by
researcher. Şahin [2], present trajectory control of a Scara type II. MODELLING AND CONTROL OF SYSTEM
robot using PID control. Saygılı [3] present design and The physical parameters of the scara robot shown in Figure
animation of a Scara type robot. Ogulmuş et. al. [4] presents 2. The scara robot produced by Yamaha in small sizes (tiny)
position control of a scara robot type 3D printer system that is are classified according to their maximum arm length. The
dynamically modeled. The others studied about control and robot (Yamaha YK500XGL-150) has a 150mm arm length.
modelling of scara robot system [5-10]. The lifting capacity is maximal 1kg. It has been produced in
In this paper, a scara robot with three degrees of freedom order to make fast and precise operations such as marking,
(3+1) modelled and position control with PID controllers. The packing, stacking in serial production.
scara robot include three rotational joint and one liner joint

1
 Figure 3: MATLAB/Simulink model of DC motor [12]

Table 1: Parameters of DC motor [12]

Parameters Symbol Value Unit
Moment of inertia J 3.2284E-6 kg.m2
Viscous friction constant b 3.5077E-6 Nms
Electromotive force constant Ke 0.0274 V/rad/sec
Motor torque constant Kt 0.0274 Nm/Amp
Electric resistance R 4 Ohm
Figure 2: The physical parameters of the scara robot Electric inductance L 2.75E-6 H

Figure 4: MATLAB/Simulink model of the scara robot control system

Figure 5: MATLAB/SimMechanics model of the scara robot

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International Conference on Engineering Technologies (ICENTE’17), Dec 07-09, 2017 Konya, Turkey

Table 2: PID controllers gains

Physical Parameters of the Scara Robot
Kp Ki Kd N
PID1 3.35 3.05 0.038 180.4
CAD Modelling in SolidWorks PID2 2.16 1.24 0.016 66.1
PID3 4.24 36.38 0.084 158.7
PID4 2.68 2.02 0.032 87.2

Exporting CAD to MATLAB/SimMechanics

PID Controller Design and Simulations

Figure 6: Working strategy of modelling and control of the system

In Figure 3, shown MATLAB/Simulink model of DC

motor. The parameters of DC motor given in Table 1. The
scara robot are built in SolidWorks and exported to
MATLAB/ SimMechanics environment with physical
parameters. The PID Controllers are designed in
MATLAB/Simulink. Later, simulations of system are
performed in MATLAB/Simulink. The MATLAB/Simulink
model of the scara robot control system is given in Figure 4.
Also in Figure 5, shown MATLAB/SimMechanics model of
the scara robot. Working strategy of modelling and control of
the system are summarized in Figure 6.

III. SIMULATIONS RESULTS

In this system 3 Dc motors are used for rotational motions
and 1 Dc motor liner motion. All Dc motors are controlled
using PID controllers which are tuned with MATLAB auto-
tune method. PID controllers gains given in Table 2.
In simulation, it is defined a marking process as reference
input for system. 3 rotary and 1 prismatic joints (R1,R2, P1,
R3) of scara robot are moved according to references inputs.
Figure 7: Step input response of system

Figure 8: The marking process reference response of system

3
 Firstly, to show the performance of the controllers, step
input reference given the system. Step input response
demonstrate in Figure 7. As seen from Figure 7, PID
controller’s performances and effectiveness are investigated
and examined; position control results of the proposed system
are presented separately for uncontrolled and controlled in the
form of graphics.
The marking process references inputs and movement of
joints (Realized) shown in Figure 8. As seen from Figure 8 it
can be said that PID controlled system reached to desired
position without steady state error. From this result, motion
control of Scara robot is achieved successfully using auto-
tuned PID controller.
IV. CONCLUSION
In this paper, a scara robot is dynamically modeled and
position control with PID controllers is realized. To obtain
dynamic model, computer aided design (CAD) model of
proposed scara robot is built using SolidWorks program and
exported to MATLAB/SimMechanics software. In this way,
modelled scara robot without mathematical equations using
two engineering software. Furthermore mathematical model of
DC motors used in scara robot system is considered in control
methodology. Four PID controllers are designed in
MATLAB/Simulink for positions control of scara robot’s joints.
The PID controllers gains tuned with auto-tune method in
MATLAB. Accuracy of proposed modeling technique is verified
by simulations. In simulations, the responses to step inputs of
system are examined and investigated firstly. Later, a marking
process is designed as a reference input and applied to the scara
robot. As a result of the paper, proposed modeling approach is
implemented and the PID controllers are designed and used in
control methodology successfully. In addition, this study will
contribute to the work about modeling and control of scara robot.
4
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REFERENCES
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