This paper addresses the problem of balancing as applied to robotic manipulators. After briefly outlining the existing balancing techniques, this paper proposes to achieve the balancing by adding non-linear springs to compensate gravity. Numerical simulations are carried out to demonstrate the feasibility and effectiveness of the proposed approach by referring to a pick-and-place task.
Gravity Compensation of Robotic Manipulators Using Non-linear Spring Configurations
Gatti G.
;Carbone G.
2021-01-01
Abstract
This paper addresses the problem of balancing as applied to robotic manipulators. After briefly outlining the existing balancing techniques, this paper proposes to achieve the balancing by adding non-linear springs to compensate gravity. Numerical simulations are carried out to demonstrate the feasibility and effectiveness of the proposed approach by referring to a pick-and-place task.File in questo prodotto:
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