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Robotic manipulators employing a bevel gravity compensator

✍ Scribed by Changhyun Cho; Woosub Lee; Sungchul Kang

Book ID
113106993
Publisher
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Year
2012
Tongue
English
Weight
955 KB
Volume
10
Category
Article
ISSN
1598-6446

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In this paper we propose a new adaptive controller for the global regulation of robot manipulators. This controller incorporates adaptation of the gravitational torque vector to overcome parametric uncertainties in the robot and payload such as masses and inertia. Also, instead of a linear proportio