فهرست نشریات علمی دسترسی آزاد ایران

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.