How design multi-pulley system?

How design a multi pulley & belt system that ensures positional accuracy at end?

I'm designing a SCARA robot. All the servo motors will be placed at base and driving force is transferred thorough pulley mechanism. Each joints are connected by harmonic drive.

But I'm worried about positional accuracy at end because of the accumulated backlash of timing belt. Could you give me a tip for this problem?

https://pdfs.semanticscholar.org/780e/6269da1536ab5ca01a1a1d1cff4879d32279.pdf