این سایت در حال حاضر پشتیبانی نمی شود و امکان دارد داده های نشریات بروز نباشند
مهندسی مکانیک مدرس، جلد ۲۵، شماره ۵، صفحات ۲۸۵-۲۹۳
عنوان فارسی Enhanced Joint Coordinate Space Estimation for Precise Position Control of SCARA Robot under Parametric Uncertainty
چکیده فارسی مقاله 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.
کلیدواژه‌های فارسی مقاله
عنوان انگلیسی Enhanced Joint Coordinate Space Estimation for Precise Position Control of SCARA Robot under Parametric Uncertainty
چکیده انگلیسی مقاله 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.
کلیدواژه‌های انگلیسی مقاله Accurate Position Control,SCARA Robot,Forward and Inverse Kinematics,Pseudo-Inverse,Taylor Expansion,Newton-Raphson Method
نویسندگان مقاله سینا دیانت | Sina Dianat
Tarbiat Modares University
دانشگاه تربیت مدرس-دانشکده مهندسی مکانیک

مجید ساده دل | majid sadedel
Departmant of Mechanical Engineering, Tarbiat Modares University
دانشگاه تربیت مدرس-دانشکده مهندسی مکانیک

بهزاد سعیدی | Behzad Saeedi
Departmant of Mechanical Engineering, Tarbiat Modares University
دانشگاه تربیت مدرس-دانشکده مهندسی مکانیک

نشانی اینترنتی http://mme.modares.ac.ir/browse.php?a_code=A-10-82763-2&slc_lang=fa&sid=15
فایل مقاله فایلی برای مقاله ذخیره نشده است
کد مقاله (doi)
زبان مقاله منتشر شده fa
موضوعات مقاله منتشر شده
نوع مقاله منتشر شده
برگشت به: صفحه اول پایگاه   |   نسخه مرتبط   |   نشریه مرتبط   |   فهرست نشریات