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
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;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152867
