Robot Manipulators: Modeling, Simulation and Optimal Multi-Variable Control


Article Preview

In this paper, virtual prototype modeling, simulation and optimization of a 3 DOF SCARA robot as an example of robot manipulators, based on using software packages are presented. The softwares, Solidworks, Matlab and specially its module, Simmechanics, are used for robot modeling and thenMulti-Variable control process is performed with PID controller for controlling the robot. After modeling error RMS is defined as optimization objective function and the controller is optimized by Genetic algorithm. In this way, online kinematics solution in Simmechanics is introduced to avoid mathematical modeling of inverse kinematics problem. The strong point of this work is to facilitate modeling of complex mechatronical systems for engineers and virtual motion visualization of the mechanisms helps the engineers to have better understanding of systems behavior. Using exact numeric prototype of the robot in optimization problem, make it possible to use optimized controller for the actual robot.



Edited by:

Amanda Wu




P. Jamali and K. H. Shirazi, "Robot Manipulators: Modeling, Simulation and Optimal Multi-Variable Control", Applied Mechanics and Materials, Vol. 232, pp. 383-387, 2012

Online since:

November 2012




[1] M. Taylan Das, L. Canan Du lger, Mathematical modelling, simulation and experimental verification of a scara robot, Simulation Modelling Practice and Theory , 13 (2005) 257–271.


[2] Le Tien Dung, Hee-Jun Kang, Robot manipulator modeling in Matlab-Simmechanicswith PD control and online Gravity compensation, International forum on strategic technology (IFOST), p.446 – 449, (2010).


[3] Z. AFFI, L. ROMDHANE, Computer Aided Design for Dynamic Modeling and Control of Closed Loop Mechanisms", ARAS 06th International Conference, 13 - 15 June 2006, Sharm El Sheikh, Egypt K. Elissa, "Title of paper if known, unpublished.

[4] Robert Babuska, Stefano Stramigioli, Matlab and Simulink for Modeling and Control, Control Laboratory Faculty of Information Technology and Systems Delft University of Technology, [Online] AT www. scribd. com/doc/57584995/Control-of-DC-Motor, september (2011).

[5] LI Zheng-wen, ZHANG Guo-Liang, ZHANG Wei-Ping, A Simulation Platform Design of Humanoid Robot Based on SimMechanics and VRML, Procedia Engineering 15 (2011) 215 – 219.


[6] Spong Mark W, 2005, Robot modeling and control, Wiley.

[7] Dassault Systems©, AT www. solidworks. com.

[8] Tomas Brezina, ZdenekHadas, and Jan Vetiska, Using of Co-simulation ADAMS-SIMULINK for Development of Mechatronic Systems", IEEE 14th Int. Symposium, "MECHATRONIKA, pp.59-64, (2011).


[9] OnurBoyabatli, IhsanSabuncuoglu, Parameter Selection in Genetic Algorithms, Journal of SYSTEMICS, CYBERNETICS AND INFORMATICS , Volume 2 - Number 4.

[10] Mahdi Salman Alshamasin, Florin Ionescu, RiadTaha Al-Kasasbeh, Kinematic Modeling and Simulation of a SCARA Robot by Using Solid Dynamics and Verification by MATLAB/Simulink, European Journal of Scientific Research, ISSN 1450-216X Vol. 37 No. 3 (2009).


[11] Lelai Zhou, ShaopingBai, Michael Rygaard Hansen, Design optimization on the drive train of a light-weight robotic arm, Mechatronics 21 (2011) 560–569.


[12] Mathworks ©, AT www. mathworks. com.