A Tutorial-oriented Approach to ARGESIM Benchmark C11 'SCARA Robot' in MATLAB, Simulink and Stateflow

Abstract

This Educational Benchmark Note presents a tutorial-oriented approach to ‘ARGESIM Benchmark C11 SCARA Robot’, an SNE Student Note compiled by master students of Mechanical Engineering. Students have described for students necessary state space models for the SCARA robot, and algorithmic preparations for implementation in MATLAB and Simulink, including proper state limitations. Furthermore, for collision handling of the robot movement, benefits of a state automata–based implementation in Stateflow is given. The simulations compare explicit and implicit model versions and efficiency of different ODE solvers, and present a basic animation.