Design and Implementation of Embedded Direct Drive SCARA Robot Controller with Resolved Motion Rate Control Method

Document Type: Original Article


Faculty of Engineering, Majlesi Branch, Islamic Azad University, Majlesi, Iran


Most of SCARA (Selective Compliance Articulated Robot Arm) direct drive robots today are equipped with a circular feedback system. The Resolved Motion Rate Control (RMRC) method increases the accuracy and compensates the lack of movement transmission system in accurate pick and place actions. In this study, a pick-and-place SCARA robot is developed by using a developed robot manipulator arm and controlling with its designed control systems. To make the end-effector of the SCARA robot arm following desired positions with specified joint velocities, the inverse kinematics technique, known as the RMRC generates motion trajectories automatically. In this research, the kinematics method has been applied with the Jacobian pseudo-inverse or Jacobian singularity-robust inverse to generate and record the pick-and-place motion of the SCARA robot. These records are then compared with the records after using RMRC methods. Several system features like the variation of samples during 50 seconds for the first and second robot joint, and mean deviation for the detailed analysis by the controller after using RMRC motion control algorithm demonstrates the preference of RMRC method in SCARA direct drive robots.


[1]     Saha, S. K., Introduction to Robots, McGraw-Hill, 3th edition. Canada, 2014.

[2]     Coronel-Escamilla, A., et al. On the Trajectory Tracking Control for A Scara Robot Manipulator in A Fractional Model Driven by Induction Motors with PSO tuning, Multibody System Dynamics, Vol. 43, No. 3, 2018, pp. 257-277.

[3]     Whitney, D., Resolved Motion Rate Control of Manipulators and Human Prostheses IEEE Transactions on Man Machine Systems, Vol. 10, No. 2, pp. 47-53, 1969.

[4]     Dessaint, L. A., Saad, M., Hebert, B., and Al-Haddad, K., An Adaptive Controller for a Direct-Drive SCARA Robot, IEEE Transactions on Industrial Electronics, Vol. 39, No. 2, 1992, pp. 105-111.

[5]     Larry, T. R., Stephen, W. F., James, W. M., and Robert, L. T., Robotics Theory and Industrial Applications, Goodheart-Willcox, 2th Edition. USA, 2011, pp. 23-27.

[6]     Alshamasin, M. S., Ionescu, F., and Al-Kasasbeh, R. T., Kinematic Modeling and Simulation of a SCARA Robot by Using Solid Dynamics and Verification by MATLAB/Simulink, European Journal of Scientific Research, Vol. 37, No. 3, 2009, pp. 388-405.

[7]     Craig, J., Introduction to Robotics Mechanics and Control, Addison-Wesley, 3th Edition. USA, 2009.

[8]     Tang, Zh., Ying, P., and Zhi Ch., Vibration Analysis and Passive Control of SCARA Robot Arm. Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence, 2019.

[9]     Koyuncu, B., Güzel, M., Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm, International Journal of Engineering and Technology, Vol. 4, 2008.

[10]  Spong, W., Hutchinson, S., and Vidyasaqar, M., Robot Modelling and Control, Wiley, 1th Edition’s, 2005.

[11]  Ruibo, H., Yingjun, Zh., Shunian, Y., Shuzi, Y., 1.1.1. Kinematic-Parameter Identification for Serial-Robot Calibration Based on POE Formula, IEEE Transactions on Robotics, Vol. 26, No. 3, 2010, pp. 411-423

[12]  He, Yunbo, et al. Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot with Decoupling Servo Control. IEEE Access, Vol. 7, 2019, pp. 47143-47153. 

[13]  Ernur, K., Teleoperation of an Industrial Robot Using Resolved Motion Rate Control with Visual Servoing. Diss. Ohio University, 2005.