**5. Conclusion**

In this paper, closed-form dynamic equations of the SP manipulator with the actuator dynamics were derived using Lagrangian method. A computational highly efficient method was developed for the explicit dynamic equations. Besides, two simple methods for the calculation of the Jacobian matrix of SP were proposed. Two dynamic models of the SP were obtained using these Jacobian matrices. Two SP models were simulated in a MATLAB-Simulink. In order to verify the simulation results, three experiments were conducted. Considering all of the results, there is very good agreement between the experiments and the simulations. Modeling errors for each experiment were computed. Based on the modeling error, modeling accuracy of the developed models is very high. Thus, the verified model of the SP can be used for control and design purposes. Especially, a model based controller needs the verified model.
