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124 An iterative schmeme for learning gravity compensation in flexible robot arms: A. De Lucas, S. Panzieri, pp 575–582

Publisher: Elsevier Science
Year: 1994
Tongue: English
Weight: 132 KB
Volume: 2
Category: Article
ISSN: 0967-0661
DOI: 10.1016/0967-0661(94)90476-6

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An iterative scheme for learning gravity

An iterative scheme for learning gravity compensation in flexible robot arms

✍ Alessandro De Luca; Stefano Panzieri 📂 Article 📅 1994 🏛 Elsevier Science 🌐 English ⚖ 784 KB

Compensation of gravity for the accurate placement of robots with flexible links can be obtained via a simple iterative control procedure that does not require knowledge of the arm mass and stiffness