DocumentCode
2389840
Title
Active mechanical compensation to obtain gravity-free robots: Modeling, control, design and preliminary experimental results
Author
Machorro-Fernández, F.A. ; Parra-Vega, V. ; Olguin-Diaz, Ernesto
Author_Institution
Res. Center for Adv. Studies, Robot. & Adv. Manuf. Div., Cinvestav, Mexico City, Mexico
fYear
2009
fDate
12-17 May 2009
Firstpage
1061
Lastpage
1066
Abstract
In this paper, a new hybrid active mechanical technique is proposed, which nullifies the torque coming from gravitational acceleration by means of controlled displacements of the center of mass of each link. Modeling, design and control issues are presented as well as some preliminary experimental results illustrate this principle.
Keywords
control system synthesis; manipulator dynamics; manipulator kinematics; mobile robots; motion control; path planning; stability; torque control; active mechanical compensation; gravitational acceleration; gravity-free robot design; motion control; path planning; robot dynamics; robot kinematics; robot manipulator; stability; torque control; Displacement control; Gravity; Haptic interfaces; Orbital robotics; Payloads; Robot control; Robot kinematics; Robotics and automation; Torque control; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location
Kobe
ISSN
1050-4729
Print_ISBN
978-1-4244-2788-8
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2009.5152867
Filename
5152867
Link To Document