Dynamic Modeling and Control of a 5-DoF SCARA Robot using MATLAB and ROS2

Dynamic Modeling and Control of a 5-DoF SCARA Robot Using MATLAB and ROS2

In the era of Industry 4.0, the dynamic design of robotic systems is critical to achieving high precision, reliability, and adaptability in automated environments. This book presents a comprehensive study of a 5-degree-of-freedom SCARA robot, combining symbolic modeling, simulation, and control to analyze its behavior under realistic conditions.

Rooted in the academic framework of Dynamic Design of Machine Tools, Robots, and Motion Axes, the content is structured in three major parts:

• Kinematic Modeling:
  The robot’s workspace and potential collisions are evaluated using Autodesk Inventor and ROS2. Symbolic transformation matrices are developed in MATLAB using Denavit-Hartenberg parameters, leading to the inverse kinematics for five joint variables. Thermal expansion effects and compensation strategies are also considered.

• Static Force Transmission:
  Using Jacobian matrices, external forces and torques are translated into joint loads. Singularities in the mechanical structure are identified, and the tool center point (TCP) forces are mapped into joint reactions.

• Dynamic Simulation and Control:
  Motion equations are derived using the Lagrangian formalism, incorporating energy terms and joint dynamics. Jerk-limited trajectory profiles are implemented and simulated in MATLAB, enabling a detailed analysis of time-dependent joint loads.

The accompanying GitHub repository provides all core MATLAB scripts, including inverse kinematics, Jacobian computation, and Lagrange-based dynamics. It also features a complete ROS2 setup (URDF/XACRO), simulation environment, and motion planning configuration for seamless robot control integration.

Ideal for students, researchers, and engineers in robotics, this work bridges symbolic modeling with real-world robotic simulation and control frameworks.