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enhanced joint coordinate space estimation for precise position control of scara robot under parametric uncertainty
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نویسنده
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dianat sina ,sadedel majid ,saeedi behzad
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منبع
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مهندسي مكانيك مدرس - 1404 - دوره : 25 - شماره : 5 - صفحه:285 -293
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چکیده
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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.
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کلیدواژه
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accurate position control ,scara robot ,forward and inverse kinematics ,pseudo-inverse ,taylor expansion ,newton-raphson method
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آدرس
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tarbiat modares university, departmant of mechanical engineering, iran, tarbiat modares university, departmant of mechanical engineering, iran, tarbiat modares university, departmant of mechanical engineering, iran
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پست الکترونیکی
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behzadsaeedi@modares.ac.ir
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enhanced joint coordinate space estimation for precise position control of scara robot under parametric uncertainty
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Authors
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dianat sina ,sadedel majid ,saeedi behzad
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Abstract
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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.
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Keywords
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accurate position control ,scara robot ,forward and inverse kinematics ,pseudo-inverse ,taylor expansion ,newton-raphson method
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