Initial investigation of gravity and friction compensation of 2-DOF robot manipulator for programming by demonstration

This work-in-progress introduces the dynamic simulation of gravity and friction compensation of 2-DOF robot manipulator for programming by demonstration. This project aims to teach tasks by programming by demonstration to the developing transportation system with a robot manipulator which collaborates with lifting machine and the horizontally moving machine. As beginning phase of the system development, the problem was simplified in designing the gravity and friction compensation of 2-DOF robot manipulator.