Modelling and control of SCARA manipulator

B. S.K.K. Ibrahim, Ahmed M.A. Zargoun

Research output: Contribution to journalConference articlepeer-review

19 Citations (Scopus)
434 Downloads (Pure)


Nowadays manipulators are getting more complex due to the development of the motor drives and the nonlinearities of the manipulator dynamics. Due to complexity of this system, the modeling process will become more complicated especially if modeled by using mathematical representation or white box approach. Therefore Computed Aided Design (CAD) modeling approach is more suitable to be applied in this system. In this paper presents the development of the CAD model of robot arm by using SolidWorks software. Then a controller based on Proportional-integral-derivative (PID) has been designed in simulation environment by using Matlab/Simulink platform. This paper shows the advantages of the combination of MATLAB and SolidWorks. SolidWorks is able to ease the modeling process. The performance of PID controller for 4 Degree of Freedom (DOF) of SCARA (Selective Compliance Articulated Robot Arm) manipulator has been assessed for first 2 DOF and shown good results.

Original languageEnglish
Pages (from-to)106-113
Number of pages8
JournalProcedia Computer Science
Issue numberC
Publication statusPublished - 1 Jan 2014
Externally publishedYes
EventInternational Symposium on Medical and Rehabilitation Robotics and Instrumentation - Shah Alam, Malaysia
Duration: 2 Dec 20134 Dec 2013

Bibliographical note

This is an open access article under the CC BY-NC-ND license


  • PID
  • SolidWorks

ASJC Scopus subject areas

  • Computer Science(all)


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