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An iterative scheme for learning gravity compensation in flexible robot arms

โœ Scribed by Alessandro De Luca; Stefano Panzieri

Publisher
Elsevier Science
Year
1994
Tongue
English
Weight
784 KB
Volume
30
Category
Article
ISSN
0005-1098

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โœฆ Synopsis

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

๐Ÿ“œ SIMILAR VOLUMES

Learning gravity compensation in robots:
Learning gravity compensation in robots: Rigid arms, elastic joints, flexible links
โœ Alessandro De Luca; Stefano Panzieri ๐Ÿ“‚ Article ๐Ÿ“… 1993 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 785 KB

The setpoint regulation problem for robotic manipulators is a basic task that can be solved either by PID control or by model-based gravity compensation. These approaches are commonly applied both to rigid arms and to robots with flexible links and/or elastic joints. However, PID control requires fi