## 2 Cooperative SCARA System
### Synchronization of SCARA Robots for Cooperative Tasks  
Synchronization of SCARA robots in cooperative tasks is crucial for improving the efficiency and precision of industrial and manufacturing environments, optimizing production, and ensuring quality. This involves multiple robots working symmetrically, sharing information, and adjusting their actions in real time, with precise planning and execution, effective communication, and adaptation to changes in the environment. Robust, low-latency communication among robots is essential for effective collaboration. This study focuses on applying the synchronization and cooperation of SCARA robots through the implementation of two algorithms, preparing them for future practical applications in industry and manufacturing. Therefore, two scenarios of cooperative tasks, in which the robots could work, were analyzed:  
1. Tasks where an object needs to be moved from point A, located within the working area of Robot 1, to point B, located within the working area of Robot 2. 2. Transporting an object between both robots and moving it from one place to another in a coordinated manner. To achieve this, it is essential to determine the working area of each robot and consider that the bases of the robots are displaced along the \(y\)-axis. Figure 5 illustrates the working areas of Robot 1 (orange), Robot 2 (blue), and the common area (green). In the first scenario, Robot 1 picks up an object from point A in its working area and transfers it to point B, located in the area shared by both robots. Robot 2 then takes the object at point B and transports it to point C within its working area. Figure 6 shows an example of this process. It is important to ensure that all of these movements are carried out within the operational areas assigned to each robot to guarantee efficient and interference-free operation. It is also possible to reverse the process, starting with Robot 2 and ending with Robot 1. Figure 5: Cooperative SCARA system with their respective working areas. \begin{table}
\begin{tabular}{c c} \hline \hline
**Symbol** & **Value** \\ \hline L & 2.75 \(\times\) 10\({}^{-6}\) H \\ \hline \hline \end{tabular} where J: moment of inertia affects the motor’s acceleration and, consequently, the robot’s ability to start and stop movements quickly; B: viscous friction constant influences the mechanical losses of the system and the precision of the movement; k\({}_{\mathrm{c}}\): electromotive force constant relates the motor’s speed to the generated voltage; k\({}_{\mathrm{t}}\): motor torque constant determines the torque produced by the motor based on the supplied current and the applied force; and R and L: electrical resistance and inductance affect the motor’s dynamic response.  
\end{table} 
Table 3: _Cont._In the second scenario, both robots simultaneously transferred the same object. Precise and symmetrical synchronization is essential, as they must coordinate their movements to handle objects together without causing misalignment or damage. Cooperation occurred in the common working area, where the operational areas overlap. This configuration allows for the manipulation of larger or heavier objects that a single robot cannot handle, thereby optimizing the working capacity and flexibility of the robotic system. Additionally, it is crucial to establish a shared reference point, defined as (x = 0, y = 0, z = 0), which serves as the basis for measuring the positions and movements of both the robots. The system has the constraint that for the robots to move an object together, the center of the object must be within the common working area of both robots. Otherwise, the robots will not be able to reach the desired points, which could cause collisions. Another possible collision can occur when robots collide with each other.