Enhanced Joint Coordinate Space Estimation for Precise Position Control of SCARA Robot under Parametric Uncertainty

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

Dianat Sina; Sadedel Majid; Saeedi Behzad

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2025 | Volume:25 | Issue:5 Page(s): 285-293

Download Full-Text

View:

Download:

Cites:

Information Journal Paper

Title

Enhanced Joint Coordinate Space Estimation for Precise Position Control of SCARA Robot under Parametric Uncertainty

Author(s)

Dianat Sina | Sadedel Majid | Saeedi Behzad | Issue Writer Certificate

Keywords

Accurate Position Control

SCARA Robot

Forward and Inverse Kinematics

Pseudo-Inverse

Taylor Expansion

Newton-Raphson Method

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.

Multimedia

No record.

Cites

No record.

References

No record.

Cite

Related Journal Papers

No record.

Related Seminar Papers

No record.

Related Plans