IEEE - Institute of Electrical and Electronics Engineers, Inc. - Active mechanical compensation to obtain gravity-free robots: Modeling, control, design and preliminary experimental results

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Machorro-Fernandez, F.A. ; Parra-Vega, V. ; Olguin-Diaz, E.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 1,061 - 1,066
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152867
Regular:

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... View More

Advertisement