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Virtual SCARA Robot with Reduced Dynamics in a Real-Time Simulation Scheme

for Robotics and Control Engineering Education

Conference Paper · December 2021

DOI: 10.1109/ICECET52533.2021.9698437

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 Proc. of the International Conference on Electrical, Computer and Energy Technologies (ICECET)
Virtual SCARA Robot with Reduced Dynamics in a
Real-Time Simulation Scheme for Robotics and
Control Engineering Education
Alan F. Santacruz Jessica Villalobos
Technology Development Department Technology Development Department
Centro de Investigaciones en Optica Centro de Investigaciones en Optica
Aguascalientes, Aguascalientes Aguascalientes, Aguascalientes
alanfernandosr@cio.mx jessicavillalobos@cio.mx
Carlos A. Paredes
Technology Development Department
CONACYT - Centro de Investigaciones en Optica
Aguascalientes, Aguascalientes
cparedes@cio.mx
Abstract—Industry 4.0 has imposed new challenges and oppor-
tunities to engineering education in robotics and control systems.
The concept of the digital twin can be partially implemented
with the use of virtual robots that incorporate 3D models and
numerical simulations of the dynamical behaviour. This work
presents the development of a virtual 3D SCARA robot which
requires an external controller for the joint and kinematic
motion control, this was implemented as a tool for teaching and
learning robotics and control. The virtual 3D robot incorporates
a novel numerical simulation that combines the Newton-Euler
dynamic equations with the Rayleigh energy dissipation equation
to consider the viscous friction. The developed virtual robot can
be implemented in a real time simulation scheme connected to an
external controller and used as an educational tool in a virtual
robotics laboratory.
Index Terms—SCARA, Robot Dynamic Modeling, Robot Dy-
namics with Joint Friction, Hardware-in-the-loop simulation.
I. I NTRODUCTION
Robotic technology has been widely implemented in a
variety of fields including industry, medicine and education,
among others. The mega technological trend known as Indus-
try 4.0 has imposed new challenges to engineering education
in robotics and control systems, particularly to incorporate
the concept of the digital twin that started in 2015 [1],
which introduces the simulation of robotic systems in different
environments [2]. In the education process, technologies found
in Industry 4.0 have to be naturally implemented such that
students experience the benefits and limitations of such tech-
nologies first hand during the learning process [3]. A survey
This work was supported by the Consejo Nacional de Ciencia y Tecnologı́a
(CONACYT, Mexico).
978-1-6654-4231-2/21/$31.00 © 2021 IEEE
9-10 December 2021, Cape Town-South Africa
Irma Y. Sanchez
Postgraduate Academic Department
Universidad Politecnica de Aguascalientes
Aguascalientes, Aguascalientes
irma.sanchez@upa.edu.mx
Fernando Martell
Technology Development Department
Centro de Investigaciones en Optica
Aguascalientes, Aguascalientes
fmartell@cio.mx
conducted in October 2020 shows that 83% of a group of
IT leaders mentioned that improving the use of educational
tools is a priority [4], this includes the use of simulators for
engineering education. Diverse studies offer reviews of the
applicability of robots in education, emphasizing the main
advantages of their use [5]. Virtual laboratories have been a
valuable educational resource particularly during the last year
due the COVID-19 pandemic [6].
Robotics and control engineering education are adapting
to new distance learning paradigms by using different tools:
video conferences, simulations, online interactive applications,
and virtual and remote laboratories [7]–[9]. Most virtual robots
are used for teaching task oriented programming; however, for
engineering education it is important to learn programming
skills oriented to controlling robots. The teaching of control
engineering incorporated robotics into its teaching-learning
process because robots can be seen as an excellent example of
interesting control problems, as in [10]–[12]. Learning robot
control can be done with digital twins in real-time simula-
tion schemes called hardware-in-the-loop (HIL), which have
already been used in workstations to simulate applications of
interest such as the robot motor control in [13].
Selective Compliant Arm for Robotic Assembly (SCARA)
robots (see Fig. 1) are used for fast pick-and-place applica-
tions, in simple words “take this and put it there”, so they
move fast but do not have the capacity to do high force works.
These robots are “R-R-P-R” systems, which means they are
composed by four articulated joints, one prismatic and three
rotational. In Fig. 1 the joints J1 , J2 and J4 correspond to θ1 ,
θ2 and θ4 respectively, and J3 is a prismatic joint, d3 .
The development of a virtual robot requires the 3D modeling
 Fig. 1. General SCARA model and its work space [14]. Fig. 2. Diagram of the SCARA robot for the kinematic analysis.

TABLE I
of the joints and links of the manipulator robot; however, it is DH PARAMETERS .
desirable to incorporate a numerical simulation with a basic Link α(◦ ) a(m) d(m) Variable
dynamic behavior, this can be done at the actuator level, but L1 0 0 l1 = 0.139 θ1 ∈ [−133, 133]◦
it is preferable at the kinematic chain level. Dynamic models L2 0 l2 = 0.300 0 θ2 ∈ [−153, 153]◦
L3 180 l3 = 0.300 d d ∈ [0, 0.200]m
of the SCARA robots have some degree of error either when L4 0 0 0 θ4 ∈ [−360, 360]◦
following trajectories or when positioning the end effector to a
desired Cartesian point. There are several research works about
how to simplify the dynamic modeling of the SCARA robot, (x, y, z) and the orientation (θf ) of the end effector.
most of them based on complex methods to overcome the
conventional dynamic modelling error [15]–[17]. Due to the x =l2 cos(θ1 ) + l3 cos(θ1 + θ2 ) (1)
complexity of such system, the modeling process will become
y =l2 sin(θ1 ) + l3 sin(θ1 + θ2 ) (2)
more complicated [18]. Robot dynamic models are required to
predict both the forces and torques acting on the system and z =l1 − d (3)
those required by the actuators [19]. θf =θ1 + θ2 + θ4 (4)
Based upon the literature review, it can be stated that
a complete dynamical modelling and numerical simulation After obtaining the inverse kinematic solution it is possible
of SCARA robots are complex and time consuming. In a to compute all the combinations of the joint values that allow
virtual robot used for engineering education it is desirable the robot to reach a specified pose; however, for the dynamic
to incorporate at least a simplified dynamical behaviour, this simulation it is common to use a third-party software, like
is enough to represent a problem for robotics and control SIMCAD [20]. In this work a simplified dynamic model of
didactic purposes. This work describes the modeling and the SCARA robot is proposed n toot depend on additional
development of a virtual SCARA robot that is composed of software, this is discussed in the next section.
a 3D model with a numerical simulation of the simplified
dynamical equations. With this technological development the III. DYNAMICS OF THE SCARA ROBOT
user can design algorithms to control the SCARA robot at the
The Newton-Euler method was used in order to study
joint level and at the kinematic level which requires practicing:
the dynamics of the robot. This method consists of outward
control theory, inverse and direct kinematics, and a correct
iterations followed by inward iterations and makes use of: the
interpretation of the work space. of the SCARA robot. This
rotational matrix of frame i+1 relative to i, i+1iR ; the position
document describes the kinematic modeling of the SCARA
vector of frame i + 1 relative to i, iP i+1 ; the position vector
robot in Section II. Section III studies the dynamics of the
of the centre of mass of link i with respect to the ith reference
robot. Its implementation in real time simulation is shown
frame, iP Ci ; and the inertia tensor of link i written in frame C
in Section IV. Section V describes a HIL simulation with
(located at the link’s centre of mass with the same orientation
an external controller that uses the Modbus communication
as the ith reference frame), Ci I i .
protocol. Finally, conclusions are presented in Section VI.
The following notation is also used: iω i and iω̇ i represent
the angular velocity and acceleration of link i with respect to
II. K INEMATIC MODEL OF THE SCARA ROBOT the ith reference frame; θ̇ i and θ̈ i are the rotational velocity
and acceleration at joint i; d˙i and d¨i represent the linear
The kinematics of this robot is widely reported in the velocity and acceleration at joint i; iv̇ i and iv̇ Ci are the linear
literature [15] and can be obtained by means of the Denavit- velocities of frame i and the center of mass of link i with
Hartenberg (DH) parameters, in this work the DRS60L robot respect to frame i; iF i and iN i represent the force-balance
(see Fig. 2) and its DH parameters are shown in Table I. and torque-balance equations for link i; finally, if i and ini
With the DH parameters, it is possible to study the direct are the force and torque that link i − 1 exerts on link i with
kinematics and obtain the equations that describe the position respect to frame i.
A. Newton-Euler equations
This section presents the equations that must be computed
in the Newton-Euler method [21]. The outward iterations were
done for i : 0 → 3, the following equations are used for the
rotational joints (i = 0, 1, 3). For the prismatic joint (i = 2)
(11) and (12) are used instead of (6) and (7), respectively.

i+1 i+1 i i+1

ω i+1 = iR ω i + θ̇ i+1 Ẑ i+1 (5)
Fig. 3. Diagram of the SCARA robot for the dynamic analysis.
i+1 i+1
ω̇ i+1 = i+1iR iω̇ i + i+1iR iω i × θ̇ i+1 Ẑ i+1 (6)
i+1
+θ̈ i+1 Ẑ i+1 B. Simplified solution
The equations used in this work were simplified by assum-
i+1
v̇ i+1 = i+1iR ( iω̇ i × iP i+1 (7) ing point masses at the distal ends of the links as indicated
in Fig. 3, this led to the following inertia tensors and position
+ iω i × i
ω i × iP i+1 + iv̇ i )


vectors:
 
i+1
v̇ Ci+1 = i+1ω̇ i+1 × i+1P Ci+1 + i+1v̇ i+1 (8) 0 0 0
C1
  I 1 = C2 I 2 = C3 I 3 = C4 I 4 = 0 0 0 (17)
+ i+1ω i+1 × i+1ω i+1 × i+1P Ci+1 0 0 0
   
L2 L3
1
i+1
F i+1 = mi+1 i+1v̇ Ci+1 (9) P C1 =  0  ; 2P C2 =  0  (18)
0 0
Ci+1
 
i+1
N i+1 = I i+1 i+1ω̇ i+1 (10) 0
3
i+1 Ci+1 i+1 P C3 = 4P C4 = 0 (19)
+ ω i+1 × I i+1 ω i+1
0
Since the robot’s base does not move, it is known that 0v 0 ,
i+1 i+1 i
ω̇ i+1 = iR ω i (11) 0
ω 0 and 0ω̇ 0 are equal to 03x1 ; however, in order to take into
account the gravity, 0v̇ 0 is defined as:

i+1
v̇ i+1 = i+1iR iω̇ i × iP i+1 (12)
   
0 0
0
 v̇ 0 = 0 =  0  (20)
+ iω i × ω i × iP i+1 + iv̇ i
i


−2
g 9.81 m s
i+1 i+1
+2 i+1ω i+1 × d˙i+1 Ẑ i+1 + d¨i+1 Ẑ i+1 Taking these into account and assuming that there is no end
effector (m4 = 0 kg, xef = 0 and yef = 0) led to a simplified
The inward iterations must be done for i : 4 → 1 and consist set of equations to compute the required joint torques, this
of the following equations: uses the following notation: ci = cos θi , si = sin θi and θ̈ij =
θ̈i + θ̈j . The simplified equations are shown next:
i i i+1
fi = i+1R f i+1 + iF i (13) 
τ1 = −nz + θ̈1 m2 l22 + m1 l22 + m2 c2 l2 l3 (21)
    
+m3 l2 l2 + c2 l3 + θ̈12 m2 c2 l2 l3 + l32
ni = iN i + i+1iR i+1ni+1
i
(14)  
+ iP Ci × iF i + iP i+1 × i+1iR i+1f i+1 +m3 l3 l3 + c2 l2
  
−s2 l2 l3 2θ̇1 θ̇2 + θ̇22 m2 + m3
Finally, the required torque, τi , at the rotational joints can be
obtained from (14), as shown in (15); while the force required
at the prismatic joint, also named τi , can be obtained from τ2 = −nz + (m2 + m3 ) (22)
 
(13) as in (16). l32 θ̈12 + s2 l2 l3 θ̇12 + c2 l2 l3 θ̈1
i
τi = ini T Ẑ i
 
(15) τ3 = fz + d¨3 − g m3 (23)
i
τi = if i T Ẑ i (16) τ4 = nz (24)
 In order to solve for θ̈1 and θ̈2 , the following variables can IV. N UMERICAL SIMULATION IN REAL TIME
be defined:
For the numerical simulation of the dynamical model it is
necessary to express the system as:
a11 = l22 (m2 + m1 + m3 ) + (m2 + m3 )c2 l2 l3 (25)
  θ̈ = F (t, θ̇, θ, τ, b) (40)
a21 = a12 = (m2 + m3 ) c2 l2 l3 + l32 (26)

a22 = (m2 + m3 ) l32 (27) Considering the next auxiliary variables:

  
k1 = −nz − s2 l2 l3 2θ̇1 θ̇2 + θ̇22 m2 + m3 (28) ψ̇ = θ̈ = F (t, θ̇, θ, τ, b) (41)
  θ̇ = ψ (42)
k2 = −nz + (m2 + m3 ) s2 l2 l3 θ̇12 (29)
It is possible to define the following system of differential
Now, the system of equations can be written as:
       equations:
τ1 a11 + a12 a12 θ̈1 k  ˙   
θ¨1
= + 1 (30) ψ1
τ2 a21 a22 θ̈2 k2  θ˙1   ψ1 
   
Finally, the next expression can be used in order to solve  .   . 
   
for θ̈1 and θ̈2 :  . = . 
    (43)
   −1    .   . 
θ̈1 a + a12 a12 τ1 − k1
   
ψ˙n   θ¨n 
= 11 (31)
θ̈2 a21 a22 τ2 − k2 θ˙n ψn
The third joint is modeled with (23), this can be solved for
d¨3 as follows: Considering the following set of functions and values for
τ3 − fz the numerical simulation:
d¨3 = +g (32)
m3
C. Energy dissipation due to the viscous friction τ1 =0.05(u(t − 3) − u(t − 5))
In order to consider the friction and the energy dissipation τ2 =0.1(u(t − 2) − u(t − 6))
at each joint, it is possible to use the Rayleigh dissipation b1 =2; b2 = 2 (44)
equation for i = 1, 2, ..., n, as follow [22]: m1 =1; m2 = 1
d ∂L ∂L ∂D l1 =0.139m; l2 = 0.3m; l3 = 0.3m
− + =0 (33)
dt ∂ q˙i ∂qi ∂ q˙i
For systems with disturbances, it can be expressed as: The response of the system was analyzed using different
integration methods, the position and velocity of each joint
d ∂L ∂L ∂D
− + = Qi (34) were simulated for 0 ≤ t ≤ 10s. Fig. 4 shows the system
dt ∂ q˙i ∂qi ∂ q˙i response using the Euler method, as it can be seen, it is
Where the Rayleigh dissipation equation is: unstable. The Dormand-Prince method, shown in Fig. 5 gives
1 a stable response but requires a variable integration step. Fig. 6
D = (bi δ12 + b2 δ22 + ... + bn δn2 ) (35)
2 shows the Runge-Kutta-Fehlberg method, which is also stable
Considering the case of the first two joints of the SCARA with the advantage of requiring a fixed integration step.
robot under study, it becomes:
1
D = (b1 q˙i 2 + b2 q˙2 2 ) (36)
2
Giving the partial derivatives of the function:
∂D ∂D
= b1 q˙1 ; = b2 q˙2 (37)
∂ q˙1 ∂ q˙2
The terms in (37) are added to (28) and (29), the resulting
equations are:
  
k1 = −nz − s2 l2 l3 2θ̇1 θ̇2 + θ̇22 m2 + m3 + b1 q˙1 (38)
 
k2 = −nz + (m2 + m3 ) s2 l2 l3 θ̇12 + b2 q˙2 (39)
These terms are added to incorporate the damping in the
mathematical model and avoid the movement of the robot after Fig. 4. Numerical integration with the Euler method
removing the input torques.
 TABLE II
M ODBUS MEMORIES

M # Description Variable Notes L/W

HR 1 t1 int16
HR 2 t2 int16 ti
Tsimi = L
HR 3 t3 int16 1000
HR 4 t4 int16
HR 5 q1 int16
HR 6 q2 int16 qsimi
q1 = W
HR 7 d3 int16 100
HR 8 q4 int16
Coil 1 Magnet bool 1 for on L

Fig. 5. Numerical integration with Dormand-Prince method

Fig. 8. User interface of the simulation.

Fig. 6. Numerical integration with Runge-Kutta-Fehlberg method

V. R EAL TIME HIL SIMULATION
The proposed set of dynamic equations, adapted for their
numerical simulation using the Runge-Kutta-Fehlberg method
where incorporated into the 3D model that represents the
SCARA robot. The intended application of the developed sys-
tem, is to present to the students the challenge of controlling
the virtual robot with an external controller. In order to do
this, it is required to consider a real time simulation scheme
with a communication protocol among the virtual robot and
the controller, this can be done using the open Modbus
TCP/IP protocol. This configuration allows the connection
to different control platforms like PLCs, micro-controllers or
other devices.
The data exchange shown in Fig. 7 is carried out by means
of the memories in Modbus shown in Table II. The Modbus
communication protocol does not accept floating point values
by default; however, in the developed system a precision of
Fig. 7. HIL simulation using the Modbus protocol.
two decimal places for each of the positions, as well as for
the control signals involved.
The HIL simulation using the Modbus registers on the slave
device to close the feedback loop, gets a latency around 25 ∼
100 ms (depending on the physical device and the network
conditions). The dynamic response is calculated in real time
using a 20ms time step providing the required feedback signals
to the control system thus ensuring the behavior of the virtual
robot. The Fig. 8 shows the developed user interface for the
virtual robot using a HIL simulation in real time.
The data exchange shown in Fig. 7 is carried out by means
of the memories in Modbus shown in Table II. The Modbus
communication protocol does not accept floating point values
by default; however, in the developed system a precision of
two decimal places for each of the positions, as well as for
the control signals involved.
VI. C ONCLUSIONS
This study presented the development of a virtual 3D
SCARA robot which requires an external controller for its
dynamic control, said virtual robot was implemented as a tool
for teaching and learning robotics and control, allowing to the
students practice and programming according with the project
learning model.
The classical Newton-Euler formulation for the dynamics
was simplified and combined with the Rayleigh energy dis-
sipation equation to consider the viscous friction and obtain
a practical set of equations used for the real-time simulation,
allowing to the students develop the dynamic modeling and
control of a robotic system without enter in relative complex
resulting equations.
The friction in the simulation allows to the virtual robot
to stop its own movement when the torque signal is removed
and avoid indefinitely movements. Likewise, since it is carried
out in a HIL simulation architecture, it allows students and
researchers to test different control techniques and platforms
using Modbus, which is an open communication protocol that
is implemented in many devices and platforms.
The numerical simulation using the simplified dynamic
equations was incorporated into a virtual 3D robot. A per-
formance verification using the Modbus protocol is carried
out in an HIL simulation scheme to prove that the system
is useful for its intended application in a virtual robotics
laboratory. Future work is to compare the herein proposed
dynamic modeling with other modelling techniques based on
artificial neural networks, and also to use the virtual robot for
the design and validation of control techniques.
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ACKNOWLEDGMENT
Thanks to the Consejo Nacional de Ciencia y Tecnologı́a
(CONACYT, Mexico) for supporting this project.

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