Active mechanical compensation to obtain gravity-free robots: modeling, control, design and preliminary experimental results

Authors:
F. A. Machorro-Fernández;V. Parra-Vega;E. Olguín-Díaz
Affiliations:
Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies, Cinvestav, México;Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies, Cinvestav, México;Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies, Cinvestav, México
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 5
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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.