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@article{186309,
        author = {Kumaresh R and Narmitha A P and Anbarasi M P},
        title = {Dynamic-Constrained Path Planning with Hybrid Force/Motion Control for 4-DOF SCARA Robot},
        journal = {International Journal of Innovative Research in Technology},
        year = {2025},
        volume = {12},
        number = {6},
        pages = {7540-7547},
        issn = {2349-6002},
        url = {https://ijirt.org/article?manuscript=186309},
        abstract = {This paper presents a constrained path planning approach with dynamic hybrid force/motion control for a 4- DOF SCARA robot. The system enhances the flexibility of robots in dynamic environments where stable motion and safe contact are simultaneously required. Kinematic and dynamic models of the SCARA are developed by using the Euler-Lagrange formulation, so joint torque and end-effector force interactions can be controlled. Dynamic path generation employs algorithms such as Probabilistic Roadmap (PRM) and Rapidly-Exploring Random Tree (RRT) to attain collision-free and constraint- compliant path trajectories. The hybrid controller coordinately synchronizes unconstrained motion and manages contact forces by impedance-based force feedback. MATLAB and Simulink simulation validates the model with accurate trajectory tracking, stable force control, and increased torque efficiency compared to traditional motion-only systems. The new methodology revolu- tionizes intelligent manufacturing by the capability of SCARA robots to execute precise and dynamic motion in actual industrial practice.},
        keywords = {SCARA robot, hybrid force/motion control, 4- DOF manipulator, dynamic-constrained trajectory, MATLAB simulation, pick-and-place},
        month = {December},
        }