If you really want to be able to handle your Uro, you'll have to take a training approach as you would with any other herps. Now i don't have experience with Saharans, but i have managed to make handleable many many other species of lizards and snakes over the years.
What you want to do is to gain the animal's trust. Usually i do this with say a Uro by offering a tasty food item by hand (ie- Dandelion flower). You'll have to be patient, but eventually it'll begin to pay off and the Uro will come over and take it. It might take a couple of sessions with the Uro getting a bit closer and closer until finally it takes it. Some are just so stubborn. You will also have days where you seem to have regressed and gone backwards, no worries it happens but you have to stick to it and keep at it. Persistance is the key, YOU have to win, not the animal.
Now you can begin to regularly do this once to several times a day slowly gaining the animals' trust as it begins to see you as a food source rather than a possible predator or threat of any kind.
Once you're comfortable that the animal is becoming comfortable with you, you can then begin to start handling it.
Now again at first you'll go backwards a ways, it'll thrash and flip out but you cannot put it down at this point. Once you pick it up and have it in your hands you cannot put it down until it calms down. This is VERY important. This is where you cannot let it win with it's defensive behaviours.
Once it has calmed down you can try and offer it that food item again (usually the first few times it'll refuse) and only put it back when it has calmed down and stopped thrashing, or biting, or whipping it's tail. It learns that it can't get put back by freaking out and consistency is the key. If you start putting it back before it's obvious it was on YOUR terms, it just reinforces the defensive behaviour and it will continue to act up or even start acting more aggressive.
You'll be surprised but after a time (different amount of time with each individual) it will cease to flip out and even seem to enjoy being handled as it'll know a treat is coming. It begins to associate the "big hand" with good things. Again you'll have days where you regress but you have to be persistant, and have to keep telling yourself that the lizard can't win. It takes time and persistance but you can do it, some are easier than others.
I had a very ill tempered (and badly taken care of by it's previous owner) Iguana once that took about a year of this, every day, but eventually it does sink in. Hah i had lots of fun explaining my shredded forearms to my work mayes lol.
Some are just more stubborn than others before it dawns on them that you aren't the bad person.
I've also had some wild caught snakes that just took right to it immediately. Of course some herps you can't start with the food thing really, snakes come to mind, but the handling portion is most important.
Hope it helps. Basic handling stuff really but it goes against our every instinct of: "oh he's freaking out i better put him back". By doing that we reinforce that behaviour, what we want to reinforce is the calm behaviour.