Enhanced Joint Coordinate Space Estimation for Precise Position Control of SCARA Robot under Parametric Uncertainty | ||
| مهندسی مکانیک مدرس | ||
| Article 5, Volume 25, Issue 5, 1404, Pages 285-293 PDF (1.61 M) | ||
| DOI: 10.48311/mme.2025.24032 | ||
| Authors | ||
| سینا دیانت; مجید ساده دل* ; بهزاد سعیدی | ||
| دانشگاه تربیت مدرس-دانشکده مهندسی مکانیک | ||
| Abstract | ||
| In contemporary robotics, enhancing performance accuracy remains a critical and ongoing challenge. As robotic systems are increasingly utilized in precision-demanding applications such as surgical procedures and industrial welding, the demand for higher accuracy in end-effector positioning continues to grow. Numerous techniques have been proposed to address this issue. This study introduces a novel methodology that integrates the pseudo-inverse approach for error estimation—based on Taylor series expansion—with forward kinematics to extract uncertainty parameters. The refined inverse kinematics solutions, obtained through the Newton-Raphson method, are implemented on a SCARA robot for validation. The proposed approach yields substantial accuracy improvements, achieving a 99.8% enhancement in the x-direction and a 99.8% error reduction in the y-direction, thereby underscoring its potential for high-precision robotic applications. | ||
| Keywords | ||
| Accurate Position Control; SCARA Robot; Forward and Inverse Kinematics; Pseudo-Inverse; Taylor Expansion; Newton-Raphson Method | ||
| References | ||
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