This approach to ARGESIM Benchmark C11 ‘SCARA Robot’ compares a programmed MATLAB imple-mentation with a graphically modelled Simulink imple-mentation, esp. with respect to implicit models and state event descriptions.
The mechanical system results in an implicit second order differential equation. Therefore, different ways of solving the equation using MATLAB and Simulink are investigated. In this context, the question of using an explicit or an implicit model description arises. Based on the best fitting model description, a point-to-point motion of the robot controlled by a single axis PD-control is simulated. Furthermore, a collision avoidance maneuver of a defined obstacle is implemented in MATLAB as well as in Simulink. Finally, the two models are compared and the advantages and disadvantages of each model are pointed out.