دانشگاه تربیت مدرس مهندسی مکانیک مدرس 2476-6909 25 5 2025 04 21 Enhanced Joint Coordinate Space Estimation for Precise Position Control of SCARA Robot under Parametric Uncertainty Enhanced Joint Coordinate Space Estimation for Precise Position Control of SCARA Robot under Parametric Uncertainty 285 293 24032 10.48311/mme.2025.24032 FA Sina Dianat Departmant of Mechanical Engineering, Tarbiat Modares University Majid Sadedel Departmant of Mechanical Engineering, Tarbiat Modares University 0000-0002-0285-8460 Behzad Saeedi Departmant of Mechanical Engineering, Tarbiat Modares University Journal Article 1970 01 01 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. 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. https://mme.modares.ac.ir/article_24032_1fb425070298bc615c24b69845387662.pdf