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Active mechanical compensation to obtain gravity-free robots: Modeling, control, design and preliminary experimental results

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3 Author(s)
Machorro-Fernandez, F.A. ; Res. Center for Adv. Studies, Robot. & Adv. Manuf. Div., Cinvestav, Mexico City, Mexico ; Parra-Vega, V. ; Olguin-Diaz, E.

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 each link. Modeling, design and control issues are presented as well as some preliminary experimental results illustrate this principle.

Published in:

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Date of Conference:

12-17 May 2009