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Geometric Calibration of Robots with Flexible Joints and Links

✍ Scribed by Wisama Khalil; Sébastien Besnard


Book ID
118661144
Publisher
Springer Netherlands
Year
2002
Tongue
English
Weight
194 KB
Volume
34
Category
Article
ISSN
0921-0296

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Learning gravity compensation in robots:
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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