ARTICLE

International Journal of Advanced Robotic Systems

Modeling, Simulation and Control

of a Redundant SCARA-Type
Manipulator Robot
Regular Paper

Claudio Urrea* and John Kern

Departamento de Ingeniera Elctrica, DIE

Universidad de Santiago de Chile, USACH
* Corresponding author E-mail: claudio.urrea@usach.cl

Received 11 Apr 2012; Accepted 15 May 2012

DOI: 10.5772/51701
2012 Urrea and Kern; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract In this paper, the modeling of a redundant

SCARAtype manipulator robot with five degrees of
freedom is presented. We propose three controllers
hyperbolicsinecosine,slidingmode,andcalculatedtorque
which are applied to the discussed model. A simulation
environment is developed using MatLab/Simulink
programming tools. This simulation environment is
employed to perform several tests (including actuators
dynamics) on the model of the redundant manipulator,
with each different controller, under path tracking
requirements. Results were obtained from comparative
curvesandrmsindexforjointsandCartesianerrors.

Keywords Redundant manipulators, dynamic model,

controllers, simulation.

1.Introduction

The widespread utilization of manipulator robots during

the current stage of industrial development has led to
productivity enhancements and quality improvements in

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manufactured products mainly due to the better

repeatabilityofrobotmovements,whichhasconsequently
resulted in a higher accuracy in their performance.
Although the first applications of such manipulators
appeared in painting and welding processes, the
automotive industry soon started to use them, expanding
theirfieldofapplicationtothemanipulationofbodyworks,
engines,chassisandothercomponents[15].Thisrequired
an increase in the flexibility of their workspace, a feature
thatcanbeachievedbyincreasingthe numberofdegrees
of freedom in the robots, i.e., making them redundant.
Nevertheless, none of these activities would be possible
without the adequate design of robots along with proper
control techniques. To fulfil this purpose, knowledge and
the study of a mathematical model and a certain kind of
intelligence is required to govern the manipulator in
order to perform the assigned tasks. By employing the
basicphysicallawsrulingrobotdynamics,itispossibleto
derive a model representing its behaviour and, by means
of proper programming tools, to develop a simulation
environment for subjecting the manipulator to different
tests,suchaspathtracking.

Int Kern:
J Adv Modeling,
Robotic Sy,Simulation
2012, Vol.and
9, 58:2012
Claudio Urrea and John
Control
of a Redundant SCARA-Type Manipulator Robot

In this paper, we present the modelling of a SCARAtype

redundantmanipulatorrobotwithfivedegreesoffreedom
and,furthermore,wesubjecttheresultingmodeltoapath
trackingtestconsistingofaspiralinCartesianspace.Three
controllersareelaboratedfortestingthemodel:hyperbolic
sinecosine, sliding mode and calculated torque. A
simulator is developed by means of the MatLab/Simulink
software to run the redundant robot model with each
controller. Actuator dynamics are also included in this
analysis. Results are obtained from comparative curves
andthermsindexofjointsandCartesianerrors.

2.RedundantRobots

Redundant robots are a kind of manipulator which has

more degrees of freedom than the number required to
perform some specific task [6, 7]. During recent years,
special attention has been paid to the study of these
manipulators, since redundancy has been considered a
major feature for performing tasks requiring a level of
dexterity comparable to the human arm, as in space
technology applications such as the Special Purpose
Dexterous Manipulator (SPDM), an essential component
of the Canadarm2: Robotic Arm designed by Canada for
theInternationalSpaceStation,showninFig.1.

The studied robotic manipulator has two additional

degrees of freedom, giving it redundancy for its
rotational movement in plane xy, as well as in its
prismaticmovementinzaxis,asseeninFig.2.

It is possible to generalize kinematic redundancy in the

planexyasisshowninFig.3,wheretheinternalvariable
i establishes the relative angle between two adjacent
links,andtodeterminethepositionoftheendeffectorin
termsofEq.(1)[9].

n
x
y li cos i ,

i 1

li sin i ,
i 1

(1)

where i corresponds to the links absolute angle, given

byEq.(2):

j .

(2)

j 1

Figure1.SpecialPurposeDexterousManipulator.

Evenifthemajorityofnonredundantmanipulatorshave
enough degrees of freedom to perform their main tasks,
for example, position and/or orientation tracking, it is
known that their restricted manipulability leads to a
reduction of the work space, due to mechanical
limitations of the joints and the presence of obstacles in
this space. This problem has motivated researchers to
studymanipulatorsbehaviorwhenaddingmoredegrees
of freedom (kinematic redundancy), permitting these
systems to manage additional tasks defined by the user.
Such tasks can be represented as kinematic functions,
including not only the kinematic functions reflecting
some desirable properties of the manipulators behavior,
likejointscharacteristicsandobstacleavoidance,butalso
canbeexpandedtoincludedynamicyieldmeasurements
throughthedefinitionoffunctionsintherobotsdynamic
model,likeimpactforce,controlofinertia,etc.[8].

Int J Adv Robotic Sy, 2012, Vol. 9, 58:2012

Figure 2. Scheme of a robotic manipulator with rotational and

prismaticredundancy.

Figure 3. Scheme of a manipulator with generalized rotational

redundancyintheplanexy.

3.ScaraTypeRedundantManipulator

Fig. 4 shows a scheme of a SCARAtype redundant

manipulator where we can see the redundancy in its
rotational movement in the plane xy as well as that in its

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prismaticmovementalongthezaxisandthedistributionof
thecoordinateaxessystemsandthepositionofcentroids.

l2

q2 ( 2)
z1
y1

O1

x1

O2

lc2

q1
(d 1)

q 4 ( 4)
z3
x3

O3

x2

lc4

lc3

c2 cos2 ,
z4

lc5

l1

lc1

q5
(d 5)

x5

O6
z5

y0

O0

y5

x0

Figure4.SchemeofaSCARAtyperedundantmanipulator.

Next,weproceedtoperformthecalculationscorresponding
tothemanipulatorskinematicmodel.

3.1Kinematics

In order to obtain the kinematic model, we have

considered the standard DenavitHartemberg method,
whoseparametersarelistedinTable1.

di

ai

l1+d1

l2

l3

2
3
4

l4

180

l5+d5

- cos i sin i

sin i sin i

cos i cos i
sin i

- sin i cos i
cos i

where the tij elements are functions of the joints

coordinates [q1,,qn]T, and in this way it is possible to
think that by means of some combinations of the 12
equations presented in (6) we can clear the n q joints
variablesintermsofthevectorcomponentsn,o,aandp.
In most cases, this method can be quite tedious,
appearing as transcendental equations. Nevertheless, if
we consider three degrees of freedom, we can simplify
theprocedureinthefollowingway:

T1 1T2 2 T3 ,

T T
1

(3)

cos i
sin
i
i 1
Ti
0

c234 cos2 3 4 .

ai cos i
ai sin i
,
(4)
di

T2 2 T3

s 234

- c 234

-1

l2 c 2 l3 c 23 l4 c 234
l2 s 2 l3 s 23 l4 s 234
,
l1 d1 l5 d5

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(8)

T3 ,

since T is known, the members to theleftin expressions

(8)arefunctionsofthejointsvariables(q1,,qk),whilethe
memberstotherightarefunctionsofthejointsvariables
(qk+1,,qn). In this way, it is possible to reduce the
complexitywhenobtainingthejointsvariables.

y0
(x,y)

lc4
lc3

l4

lc2
O0

(5)

c 234
s
T 2 34
0

(7)

rearranging,weobtain:

Then, applying the homogeneous transformations given

byEqs.(3)and(4),weobtainthedirectkinematicmodel
givenbythematrix(5):

Ti Rot zi-1,i Tras zi-1, di Tras xi ,ai Rot xi ,i ,

c23 cos2 3 ,

Table1.DenavitHartembergparameterassignment.

i -1

s234 sin2 3 4 ,

0 0 0 1

Articulacini

s23 sin2 3 ,

In order to obtain inverse kinematics in a redundant

robot we must consider different methods, selecting the
most adequate one in accordance with model
considerations. If we use homogeneous transformation
matrices it is necessary to clear the n q variables, in
terms of vector components n, o, a and p corresponding
tothedirectkinematicmodel,asstatedinexpression(6):

n o a p
(6)

tij ,

y4

l5
z0

s2 sin2 ,

x4

O4

y3

l4

l3

q3 ( 3)
z2
y2

where:

l3
x0

l2

Figure5.SchemeofthethreerotationalDOFintheSCARAtype
redundantrobotmanipulator.

Claudio Urrea and John Kern: Modeling, Simulation and Control

of a Redundant SCARA-Type Manipulator Robot

 : Vectorofgeneralizedforces(forcesandtorques).
Inthisway,thedynamicmodelofamanipulatorwithn
jointscanbeexpressedthroughEq.(17)[9,12,13]:

When applying this method to the three rotational

degreesoffreedomthatrulestherobotsmovementinthe
plane xy, as shown in Fig. 5, multiple solutions will be
obtained. In order to overcome this limitation, we
establishtheconditionstatedbyEq.(9):

where:

(9)

Accordingly with these considerations and after

adequatesimplificationstheinversekinematicmodelis
obtained,expressedby:

3 arccos ,

13

13

2
2
1 l3

4l l x
13

y2

1
2

4l1l3 ,

2 2arctan ,

x x 2 y 2 s23 4l3 c3 l3 c3 l2 l22

(11)

G : Vectorofgravitationalforce(n 1 d i m e n s i o n ) .
: Vectorofjointacceleration(n 1 d i m e n s i o n ).
q

(12)

F : Vectoroffrictionforces(n 1 d i m e n s i o n ).

Therefore, from Eqs. (15), (16) and (17) the dynamic

model of the redundant robotic manipulator can be
expressedthroughEqs.(18)to(35):

1
2

y l2 s3 l3 s23

d5 l1 d1 l5 z ,

: Vectorofgeneralizedforces(n 1 d i m e n s i o n ).
M : Inertiamatrix(n n d i m e n s i o n ).
C : Vector of centrifugal and Coriolis forces (n 1
d i m e n s i o n ).
q : Componentsofthejointpositionvector.
q : Componentsofthejointspeedvector.

(10)

l2 l1 l3 4l1l3 ...

4l l l 2l l l

C q, q G q F q , (17)
M q q

4 3 .

M 11
M
21
M M 31

M 41
M 51

(13)

(14)

wherezandd1areknown.

3.2Dynamics

Havinginmindtheabovepresentedmanipulator,itisnow
necessary to obtain its dynamic model. For this purpose,
we will employ the LagrangeEuler formulation that is
based on the principle of energy conservation [10]. Next,
we need to obtain the manipulators kinetic energy and
potential energy. Therefore, to obtain the dynamic
equation of the robotic manipulator, we must determine
[11]:

d L q, q L q, q
,

dt q
q

where:

L : Lagrangianfunction(Lagrangian).
K : Kineticenergy.
U : Potentialenergy.
q : Vectorofgeneralized(joint)coordinates.
q : Vectorofgeneralized(joint)speeds.

Int J Adv Robotic Sy, 2012, Vol. 9, 58:2012

M 14

M 22
M 32
M 42
M 52

M 23
M 33
M 43
M 53

M 24
M 34
M 44
M 54

M 15
M 25

M 35 ,
(18)
M 45
M 55

M 12 M 21 M 13 M 31 M 14 M 41 ...

M 25 = M 52 = M 35 M 53 = M 45 M 54 0

M 15 M 51 m5

(20)
(21)

M 22 lc 2 2 m2 l2 2 lc 32 2l2 lc 3 c3 m3 ...

l32 lc 4 2 2l2 l3 c3 m4 ...

2 l3 lc 4 c 4 l2 lc 4 c34 m4 ...

manipulatorskineticandpotentialenergy,
theLagrangian(Eq.(15)),and
toreplaceinLagrangeEulerequation(16),

L q, q K q, q U q ,

M13

M 11 m1 m2 m3 m4 m5 , (19)

M 12

l32 l4 2 2l2 l3 c3 m5 ...

(22)

2 l3 l4 c 4 l2 l4 c34 m5 ...
(15)

(16)

I 2 z z I3z z I 4 z z

M 23 M 32 lc 32 l2 lc 3 c3 m3 I 3 z z I 4 z z ...

lc 4 l2 l3 c3 2l3 lc 4 c 4 m4 ...

(23)

l2 lc 4 c34 m4 l2 l4 cos34 m5 ...

l4 2 l2 l3 c3 2l3 l4 c 4 m5

M 24 M 42 lc 4 2 l3 lc 4 c4 l2 lc 4 c34 m4 ...

l3 l4 c4 l2 l4 c34 m5 I 4 z z

(24)

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M 33 lc 32 m3 l32 lc 4 2 2l3 lc 4 c4 m4 ...

l4 2 2l3 l4 c4 m5 I 3 z z I 4 z z

M 34 M 43 lc 4 2 l3 lc 4 c4 m4 ...

l3 l4 c4 m5 I 4 z z

(25)

(26)

M 44 lc 42 m4 l42 m5 I 4 zz

(27)

M 55 m5

(28)

C C11 C21 C31 C41 C51

(29)

C11 C15 0

(30)

C12 lc3 m3 l3 m4 l3 m5 l2 s3 32 ...

lc 4 m4 l4 m5 l2 s34 32 ...
lc 4 m4 l4 m5 l2 s34 l3 s 4 4 2 ...
2 lc 3 m3 l3 m4 l3 m5 l2 s3 2 3 ...
lc 4 m4 l4 m5 l2 s34 2 3 ...
2 lc 4 m4 l4 m5 l2 s34 l3 s 4 2 4 ...
2 lc 4 m4 l4 m5 l3 s 4 l2 s34 3 4

Vm q, q q G q F q
M q q

(31)

According to this, the matrix Vm can be expressed by

meansofEqs.(37)to(46):

Vm

(32)

lc 4 m4 l4 m5 l3 s4 32 ...
2 l4 m5 lc 4 m4 l3 s 4 2 3

F21

F31

F41

0 0 0 m5 g z

F51
T

s 4 sin 4 ,

m1 : Massofthefirstlink.
m2 : Massofthesecondlink
m3 : Massofthethirdlink.

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2 34

(39)

c4

2 34 2

c4

(40)

2 34 3

lc 4 m4 l4 m5 l3 s4 l2 s34 4

c3 cos3 ,

c 4 cos 4 , s 34 sin 3 4 , c34 cos 3 4 ,

lc 3 m3 l3 m4 l3 m5 l2 s3 3 ...
l m l m l s ...

(35)

where:

s3 sin 3 ,

Vm 22 lc 3 m3 l3 m4 l3 m5 l2 s3 3 ...

l m l m l s ...

Vm 23 lc3 m3 l3 m4 l3 m5 l2 s3 2 ...
l m l m l s ...

(38)

lc 4 m4 l4 m5 l3 s 4 l2 s34 4

F11

(37)

Vm11 Vm12 Vm13 Vm14 Vm15 Vm 21 ...

c4

(33)

(34)

Vm12 Vm13 Vm14 Vm15

Vm 22 Vm 23 Vm 24 Vm 25

Vm 32 Vm33 Vm34 Vm 35

Vm 42 Vm 43 Vm 44 Vm 45
Vm 52 Vm53 Vm54 Vm 55

Vm 51 Vm 52 Vm 53 Vm 54 Vm 55 0

C14 lc 4 m4 l4 m5 l3 s 4 l2 s34 2 ...

G m1 m2 m3 m4 m5 g z

Vm11
V
m 21
Vm 31

Vm 41
Vm 51

Vm 25 Vm31 Vm 35 Vm 41 Vm 44 Vm 45 ...

(36)

C13 lc 3 m3 l3 m4 l3 m5 l2 s3 2 2 ...

lc 4 m4 l4 m5 l2 s34 22 ...
lc 4 m4 l4 m5 l3 s 4 4 2 ...
2 lc 4 m4 l4 m5 l3 s 4 2 4 ...
2 lc 4 m4 l4 m5 l3 s 4 3 4

m4 : Massofthefourthlink.
m5 : Massofthefifthlink.
l1 : Lengthofthefirstlink.
l2 : Lengthofthesecondlink.
l3 : Lengthofthethirdlink.
l4 : Lengthofthefourthlink.
l5 : Lengthofthefifthlink.
lc2 : Lengthfromtheoriginofthe2ndlinktoitscentroid.
lc3 : Lengthfromtheoriginofthe3rdlinktoitscentroid.
lc4 : Lengthfromtheoriginofthe4thlinktoitscentroid.
l2zz : Inertialmomentumofthe2ndlinkwithrespecttothe
1stzaxisofitsjoint.
l3zz : Inertialmomentumofthe3rdlinkwithrespecttothe
1stzaxisofitsjoint.
l4zz : Inertialmomentumofthe4thlinkwithrespecttothe
1stzaxisofitsjoint.

Inthemanipulatorsdynamicmodel,aspointedinEq.(17),
thetermcorrespondingtocentrifugalandCoriolisforcesis
frequentlyexpressedthroughaVmmatrix,asin(36):

Vm 24 lc 4 m4 l4 m5 l3 s 4 l2 s34 2 3 4

Vm32 lc 3 m3 l3 m4 l3 m5 l2 s3 2 ...

l m l m l s ...
c4

2 34

(41)

(42)

lc 4 m4 l4 m5 l3 s 4 4
Claudio Urrea and John Kern: Modeling, Simulation and Control
of a Redundant SCARA-Type Manipulator Robot

Vm33 lc 4 m4 l4 m5 l3 s4 4

(43)

Vm34 lc 4 m4 l4 m5 l3 s 4 2 3 4

(44)

Vm 42 lc 4 m4 l4 m5 l2 s34 l3 s 4 2 ...

l m l m l s

(45)

c4

3 4

Vm 43 lc 4 m4 l4 m5 l3 s 4 2 3

(46)

4.ActuatorDynamics

The actuators considered in this study are servo motors,

which are composed by a direct current motor, a gear
trainforreducingspinspeedandincreasingtorqueinthe
driveshaft,apotentiometerconnectedtotheoutputaxis
whichisusedtoknowaposition,andafeedbackcontrol
circuit which converts a PWM (PulseWidth Modulation)
input signal into voltage, compares it with the feedback
position,andthenamplifiesittodriveanHbridgesoas
toproducethespinataspecifiedspeed[3].

In Figs. 6 and 7 we can see, respectively, a schematic

diagramandablockdiagramofaservomotorcoupledto
aroboticmanipulatorasaload[14].

The dynamic model of the considered servo motors has

been developed by authors in [14], and is given by
expressions(47)and(48):

1 ka
1
Ak s k p vi J m q ...

n Ra
n
1
k
1 k a kb
1
Bm q a Ak s pq f ec q

n Ra
Ra
n
n

(47)

f ec q Fec1 tanh kq 1 sgn q 2 ...

Fec 2 tanh kq 1 sgn q 2

(48)

Figure 6. Schematic diagram of a servomotor coupled to a

roboticmanipulatorasaload.

Figure 7. Block diagram of a servomotor coupled to a robotic

manipulatorasaload.

kisaconstantusedtoincreaseorreducethecurveslope
inthezerocrossing.

5.ConsideredControllers

Nextwepresentasummaryofthecontrollersconsidered
formodelevaluationoftherobotalongwithitsactuators,
withtheirrespectiveperformance.

6.HyperbolicSineCosineController

Thiscontroller,alreadypresentedin[15],iscomposedbya
proportional part based on hyperbolic sinecosine
functions,aderivativepartbasedonahyperbolicsine,and
gravitycompensation,aspointedinEqs.(49)and(50).

K p sinh qe cosh qe ...

where:

n : Gearratio(n1/n2).
ka : Motortorqueconstant.
Ra : Armatureresistance.
A : Gainofthepoweramplifier(Hbridge).
ks : Comparatorsensibility.
kp : TotalPWM(kp1kp2)conversiongain.
vi : Servomotorinputvoltage.
Jm : Motorinertialmomentum.
kb : Inverseelectromotiveforceconstant.
Bm : Motorviscousfriction.
p : Positionpotentiometergain.
k : tanhfunctionslopegain.

Int J Adv Robotic Sy, 2012, Vol. 9, 58:2012

K v sinh q G q

qe q d - q

(49)
(50)

where:

K p diag K p1 , K p 2 , ... , K pn

(51)

Kp : Proportional gain matrix, diagonal and definite

positive(n n d i m e n s i o n ).

K v diag Kv1 , Kv 2 , ... , Kvn

Kv

(52)

Derivativegainmatrix,diagonalanddefinitepositive
(nndimension).
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qe : Jointpositionerrorvector(n 1 d i m e n s i o n ).
qd : Jointdesiredpositionvector(n 1 d i m e n s i o n ).

In[15]itisestablishedthattheroboticmanipulatorjoint
position error will asymptotically tend to zero as time
approachesinfinity:

lim q e 0
(53)

6.2CalculatedTorqueController

Another developed controller employs a control law by

calculatedtorque,consistingintheapplicationofatorque
in order to compensate the centrifugal, Coriolis,
gravitatoryandfrictioneffects,asstatedinEq.(59)[20]:

this behavior is demonstrated by analyzing Eq. (54) and

identifyingthatthesystemsonlyequilibriumpointisthe
origin(0,0).

a
d q e
1

dt q
a2

a1 q
a2 M q

-1

K p sinh qe cosh qe ...

(59)

where:

: Estimationofinertiamatrix(n n d i m e n s i o n ).
M
(n 1 d i m e n s i o n ).

(54)

K sinh q C q, q q

K diag K1 , K 2 , ... , K n

q, q G
q F q
C

: Estimation of centrifugal and Coriolis forces vector

C

6.1SlidingModeController

Sliding Mode Controllers (SMC) are a particular kind of

Variable Structure Control (VSC) system with the ability
to change structure by means of some law in order to
satisfythedesiredfeatures[16].SMCconsistsindefining
a control law which switching at a high frequency
drives the systems status into a surface called a sliding
surface, keeping it in front of possible external
perturbations [17]. One of the major advantages of the
sliding mode control lies on its invariance against
parameter uncertainties and external perturbations.
Nevertheless, high switching frequencies usually cannot
be implemented [18], and it also introduces to actuators
the vibration phenomenon called chattering, which
mustbeavoidedinmanyphysicalsystems,suchasservo
control systems, structure vibration control systems and
roboticsystems[19].

Thecontrollawcorrespondsto:

K sgn s
(55)

where:

q q
d K v q e K p qe ...
M

: Estimationofgravityforcevector(n1dimension).
G

F : Estimationoffrictionforcesvector(n1dimension).
Kv : Definite positive diagonal matrix (nn dimension)
definedin(52).
Kp : Definite positive diagonal matrix (nn dimension)
definedin(51).
qe : Joint position error vector (n 1 d i m e n s i o n )
definedin(50).

q q d - q
(60)
e

q e : Jointspeederrorvector(n 1 d i m e n s i o n ).

d : Jointdesiredaccelerationvector(n 1 d i m e n s i o n ).
q
If the estimation errors are little, joints errors
approachtoalinearequation,aspointedinEq.(61).

e K v q e K p q e 0
q

(61)

6.SimulationEnvironment

(56)

K : Definitepositivediagonalmatrix(n ndimension).
andtheslidingsurfaceisgivenby:

where:

s W q q d q q d

(57)

W diag W1 , W2 , ... , Wn

(58)

W : Definitepositivediagonalmatrix(nndimension).

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Figure 8. Block diagram of the simulator employed to test the

manipulatormodelalongwiththementionedcontrollaws.

Claudio Urrea and John Kern: Modeling, Simulation and Control

of a Redundant SCARA-Type Manipulator Robot

The three control laws above mentioned, along with the

SCARAtyperedundantmanipulatordynamicmodeland
the actuator dynamics, were run in a simulation
structure, created by means of MatLab/Simulink
programmingtools,asshowninFig.8.

Parameter values considered for the manipulator are

displayedinTable2.

Link1

Link2

Link3

Link4

Link5

Units

0.524

0.2

0.2

0.2

0.14

[m]

lc

[m]

0.5114

[kg]

[kgm2]

0.0229 0.0229 0.0229

m 1.228 1.023

1.023

1.023

Izz

Fv

0.03

0.025

0.025

0.025

0.02 [Nms/rad]

Feca 0.05

0.05

0.05

0.05

0.03

[Nm]

Fecb 0.05

0.05

0.05

0.05

0.03

[Nm]

0.0058 0.0058 0.0058

KindofController

Constants
Kp1,Kp2,Kp3,
Kp4,Kp5
Kv1,Kv2,Kv3,
Kv4,Kv5
K1,K2,K3,
K4,K5
W1,W2,W3,
W4,W5

Calculated
Torque
400,300,200,
__
400,600,700,
100,100
800,100
5,4,3,
__
120,100,60,
2,2
50,40
__
0.74,1.45,1.4,
__
1.35,1.54
__
10,10,10,
__
10,10
SinhCosh

SlidingMode

Table4.Gainsconsideredforthecontrollers.

Table2.Parametersconsideredforthemanipulador.

Table3.showsthesetofparametervaluesusedforeach
actuator.

Table 4. shows the set of gain values employed for each

kindofcontroller.

7.Results

After developing the manipulator model and the

simulation environment including the actuator
dynamicsandestablishingthecontrollawstobeused,a
testtrajectorywasdeterminedinthespacetosubjectthe
manipulators model to path tracking, and we then
studied the results in terms of the performance of each
controller.ThistrajectoryisshowninFig.9.

Servo1 Servo234 Servo5

Units

Ra
1.6
1.6
1.6
[]
La
0.0048
0.0048
0.0048
[H]
Jm
0.007
0.007
0.007
[kgm2]
Bm 0.01413
0.01313
0.01208
[Nms/rad]
ka
0.35
0.35
0.35
[Nm/A]
kb
0.04
0.04
0.04
[Vs/rad]
Feca
0.05
0.05
0.03
[Nm]
Fecb
0.05
0.05
0.03
[Nm]
n
1/600
1/561.6
1/561.6
[Times]
A
15
15
15
[Times]
ks
10
10
10
[Times]
kp
1
1
1
[Times]
p
1
1
1
[Times]
Table3.Parametersconsideredforservomotors.

Int J Adv Robotic Sy, 2012, Vol. 9, 58:2012

Figure9.TestCartesiandesiredtrajectory.

Figure 10. Comparison in the space of the desired and real

Cartesiantrajectoriesusingthehyperbolicsinecosinecontroller.

Figs. 10, 11 and 12 show the curves corresponding to

comparisonsbetweenthedesiredCartesian trajectoryand
therealCartesiantrajectory,displayingtheviewsinspace,
plane xy and plane yz, respectively. All of this is under
theactionofthehyperbolicsinecosinecontroller,where:

xyzd : DesiredCartesiantrajectory,inspace.
xyz : RealCartesiantrajectory,inspace.
xyd : DesiredCartesiantrajectory,inplanexy.
xy : RealCartesiantrajectory,inplanexy.
yzd : DesiredCartesiantrajectory,inplaneyz.
yz : RealCartesiantrajectory,inplaneyz.

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Figure 11. Comparison in plane xy of the desired and real
Cartesiantrajectoriesusingthehyperbolicsinecosinecontroller.

In Fig. 13 are seen the curves corresponding to desired

andrealjointtrajectories,whenusingthehyperbolicsine
cosinecontroller,where:

qdn : Desired joint trajectory, where n represents joints 1

to5.
qn : Realjointtrajectory,wherenrepresentsjoints1to5.

Forces and torques supplied to the robot by actuators,

under the action of hyperbolic sinecosine controller, are
showninFig.14,where:

f1 : Forceappliedinjoint1.
2 : Torqueappliedinjoint2.
3 : Torqueappliedinjoint3.
4 : Torqueappliedinjoint4.
f5 : Forceappliedinjoint5.

Figure 13. Comparison of the real and desired joint trajectories

usingthehyperbolicsinecosinecontroller.

Figure 14. Forces and torques applied to the robot when using
thehyperbolicsinecosinecontroller.
Figure 12. Comparison in plane yz of the desired and real
Cartesiantrajectoriesusingthehyperbolicsinecosinecontroller.

Figs. 15 and 16 display the errors obtained from desired

andrealCartesiantrajectories,anddesiredandrealjoint
trajectories,respectively,whenusingthehyperbolicsine
cosinecontroller,where:

ex
ey
ez
en

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: ErrorinCartesiantrajectory,xaxis.
: ErrorinCartesiantrajectory,yaxis.
: ErrorinCartesiantrajectory,zaxis.
: Errorinjointtrajectory,wherenrepresentsjoints1
to5.
Claudio Urrea and John Kern: Modeling, Simulation and Control
of a Redundant SCARA-Type Manipulator Robot

Figure 18. Comparison in plane xy of the desired and real

Cartesiantrajectoriesusingtheslidingmodecontroller.

Figure15.Cartesiantrajectoryerror,whenusing the hyperbolic

sinecosinecontroller.

Figure16.Jointtrajectoryerror,whenusingthehyperbolicsine
cosinecontroller.

Figure19.ComparisonintheplaneyzofCartesiandesiredand
realtrajectoriesusingtheslidingmodecontroller.

Figure 17. Comparison in the space of the desired and real

Cartesiantrajectoriesusingtheslidingmodecontroller.

Comparisons between the desired and real Cartesian

trajectories, under the sliding mode controller, are
shown in Figs. 17, 18 and 19, displaying the charts
correspondingtothespace,theplanexyandtheplane
yz,respectively.

In Fig. 20 we display the charts related to joint desired

and real trajectories when using the sliding mode
controller.

10 Int J Adv Robotic Sy, 2012, Vol. 9, 58:2012

Figure 20. Comparison of the joint desired and real trajectories

whenusingtheslidingmodecontroller.

Fig. 21 shows the response of the actuators, indicating

forces and torques developed during trajectory tracking,
whenusingtheslidingmodecontroller.

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Errors produced by the difference between the desired

and real Cartesian trajectories and the joint desired and
real trajectories when applying the sliding mode
controller,areshowninFigs.22and23,respectively.

The tracking response of robot model in the joint space,

when using the calculated torque controller, is shown in
Figs.24,25and26,displayingthedesiredandrealcurves
inthespace,theplanexyandtheplaneyz,respectively.

Figure 21. Forces and torques applied to the robot when using
theslidingmodecontroller.

Figure 24. Comparison in the space of the desired and real

Cartesiantrajectorieswhenusingthecalculatedtorquecontroller.

Figure 22. Error in Cartesian trajectory when using the sliding

modecontroller.

Figure 25. Comparison in plane xy of the desired and real

Cartesian trajectories when using the calculated torque
controller.

Figure23.Errorinjointtrajectorywhenusingtheslidingmode
controller.

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Figure 26. Comparison in plane yz of the desired and real

Cartesian trajectories when using the calculated torque
controller.

Claudio Urrea and John Kern: Modeling, Simulation and Control

of a Redundant SCARA-Type Manipulator Robot

11

Comparisons between joint desired and real trajectories

underthecalculatedtorquecontrollerareshowninFig.27.

Figure29.ErrorinCartesiantrajectorywhenusingthecalculated
torquecontroller.

Figure 27. Comparison of the joint desired and real trajectories

whenusingthecalculatedtorquecontroller.

Figure 30. Error in joint trajectory when using the calculated

torquecontroller.

Finally, figs. 31 and 32 show joint and Cartesian rms

errors,respectively,inaccordancewithEq.(62).

rms

1
n

ei 2

(62)

i 1

WhereeirepresentsboththejointandCartesiantrajectory
errorsandnisthenumberofdata.

Figure 28. Forces and torques applied to the robot when using
thecalculatedtorquecontroller.

InFig.28areseenthecurvescorrespondingtotheforces
and torques applied by servo motors under the
applicationofthecalculatedtorquecontroller.

In Figs. 29 and 30, we can see the error curves obtained

from Cartesian and joint desired and real trajectories
whenusingthecalculatedtorquecontroller.

12 Int J Adv Robotic Sy, 2012, Vol. 9, 58:2012

Figure31.Performanceindexcorrespondingtojointtrajectory.

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Figure 32. Performance index corresponding to the Cartesian

trajectory.

Figure33.SchemeofaSCARAtyperedundatrobot(viewA).

Figure34.SchemeofaSCARAtyperedundantrobot(viewB).
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8.Conclusions

In this paper, we developed the kinematic and dynamic

model of a redundant SCARAtype manipulator robot
with five degrees of freedom using the Denavit
Hartemberg and LagrangeEuler methods, respectively.
Threecontrollersweredeveloped:hyperbolicsinecosine,
slidingmodeandcalculatedtorque.Asimulatorwasalso
created,usingtheMatLab/Simulinksoftware.Severaltests
on this model were presented, including actuator
dynamics under each controller through a path tracking
test consisting of a spiral in the Cartesian space. The
results obtained through the simulation environment
were displayed by means of comparative curves and an
rmsindexforjointandCartesianerrors.

Fromtheresultsobtained,wecanseethattheredundant
manipulator model presented a path tracking response
whosemaximumerrorswerelessseverewhenusingthe
hyperbolic sinecosine controller than in the other two
cases, leading to more homogeneous manipulator
movements.Wealsoappreciatethatthegreatestjointand
Cartesianerrorsproducedwhentestingtherobotmodel,
bothformaximumandrmsvalues,occurredwhenusing
the calculated torque controller. Consequently, the best
results for the robotic manipulators model performance
were obtained when applying the hyperbolic sinecosine
controller,asshowninFigs.31and32.Itisimportantto
noticethatboththehyperbolicsinecosineandthesliding
mode controllers present a lesser simulation complexity,
since they do not require the second derivative of joint
position. Such a condition can be decisive in the case of
not having highperformance processors. The practical
implementation of the sliding mode controller, however,
has a considerable disadvantage: the controllers high
switching frequency, leading to a remarkable
deteriorationoftheactuators.

9.FurtherResearch

Fromthebehaviorobtainedthroughthesimulationtests
fortheredundantrobotmodelwithitsactuatorsandthe
differentcontrollawsthatwereanalyzed,wecanbegina
newstageinthestudyandanalysisofredundantrobotic
manipulators, consisting in the practical implementation
of real industrialtype robots, its actuators and
controllers, by means of the development of the proper
hardware,asisschematizedinFigs.33and34.

10.Acknowledgements

ThisworkhadthesupportoftheDepartmentofScientific
andTechnologicResearchoftheUniversidaddeSantiago
deChile,throughProject060713UO.

Claudio Urrea and John Kern: Modeling, Simulation and Control

of a Redundant SCARA-Type Manipulator Robot

13

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