Geometrical defect identification of a SCARA robot from a vector modeling of kinematic joints invariants

• New geometric vector modelling of SCARA robot. Definition independent parameters based on robot joints invariants. A direct identification method “Circle Point Analysis”. Improvement the accuracy a (mean transformation error less than 0.03 mm). final compared to first and second-order Denavit–Hartenberg geometrical model. This article introduces new modeling serial kinematic consistent with process. is definition position orientation joint For example, invariant rotational straight-line (rotational axis). Thus, only are introduced model axis in space. Note that, not constrained as (DH) formalism. presents methodology define these In this context, relies "Circle Analysis". The points measured laser tracker. Indeed, relevant processing points, we directly identify invariants joints. applied modeling. After an process, allows improving inverse classical DH defects. Moreover, obtained residual mean value close measurement