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The focus is on accurately capturing nonlinear friction and coupling effects, which are frequently inadequately addressed in standard modeling and identification techniques. A novel two-step identification procedure is proposed, where friction parameters are identified independently from inertial parameters. This decoupled approach allows for a more accurate representation of friction behavior, especially at low velocities. Additionally, the influence of ball screw spline coupling between joints 3 and 4 is investigated, revealing its impact on the robot\u2019s dynamics, particularly under payload conditions. The identified dynamic model is validated through both standard torque prediction and model-based control. Experimental results demonstrate the superiority of the proposed approach over traditional methods, leading to significantly improved torque prediction accuracy and enhanced tracking performance in model-based control.<\/jats:p>","DOI":"10.1007\/s10846-025-02303-7","type":"journal-article","created":{"date-parts":[[2025,8,22]],"date-time":"2025-08-22T11:29:34Z","timestamp":1755862174000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Dynamic Modeling and Parameter Identification of a SCARA Robot Including Nonlinear Friction and Ball Screw Spline Coupling"],"prefix":"10.1007","volume":"111","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2452-221X","authenticated-orcid":false,"given":"Giovanni","family":"Boschetti","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-8513-0100","authenticated-orcid":false,"given":"Teresa","family":"Sinico","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,8,22]]},"reference":[{"key":"2303_CR1","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1016\/j.rcim.2017.11.007","volume":"51","author":"X Yin","year":"2018","unstructured":"Yin, X., Pan, L.: Enhancing trajectory tracking accuracy for industrial robot with robust adaptive control. 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