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Gravity compensation algorithms for parallel haptic interface
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication, 2003This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static balancing of this mechanism have been investigated: a classical method, based on Lagrange's approach and an algorithm ...
D. CHECCACCI +4 more
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Gravity Disturbance Compensation for Inertial Navigation System
IEEE Transactions on Instrumentation and Measurement, 2019This paper investigates the gravity disturbance compensation for inertial navigation system based on high-resolution global gravity field models. The high-precision gravity is calculated using the European Improved Gravity model of the Earth by New techniques (EIGEN)-6C4, which is a representative of the high-resolution models.
Lubin Chang, Fangjun Qin, Meiping Wu
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Passive mechanical gravity compensation for robot manipulators
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002A simple mechanical method for passively compensating for gravitationally induced joint torques is presented. This energy-conservative gravity-compensation method is suitable for a variety of manipulator designs. With cables and appropriate pulley profiles, changes in potential energy associated with link motion through a gravity field can be mapped to
Nathan Ulrich, Vijay Kumar
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Pilot-Force Measurement with Inertia and Gravity Compensation
Journal of Aircraft, 2007Measuring pilot force on pilot control loaders used in flight simulators is difficult due to force errors introduced by pilot control loader inertia, simulator cab motion, and gravity. Attempts to correct this problem by using strain gauges near the grip handle or in gloves have proven impractical because the devices are sensitive to grip position ...
Rodger Mueller, Gordon Hardy
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Power-Assisted Wheelchair With Gravity and Friction Compensation
IEEE Transactions on Industrial Electronics, 2016In this paper, a gravity compensated power-assisted wheelchair (GCPAW) is proposed, which will climb a hill, and stop, and make as a delicate movement in the middle of the hill as it can do on a flat surface. To climb the hill, the proposed GCPAW compensates for the parallel component of the force of gravity (the force that causes acceleration or ...
Kyung-min Lee +4 more
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Force-Sensorless Friction and Gravity Compensation for Robots
2015In this paper we present two controllers for robots that combine terms for the compensation of gravity forces, and the forces of friction of motors and gearboxes. The Low-Friction Zero-Gravity controller allows a guidance of the robot without effort, allowing small friction forces to reduce the free robot motion.
Santiago Morante +3 more
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Gravity Compensation Walker: Structure and Safety
Volume 5: Biomedical and Biotechnology, 2020Abstract Morbid obesity is a widespread problem in the united states. The rate of falls and injures is much higher for obese individuals when compared to individuals of normative weight. Obesity can also impose excessive load to the hip and knee joints during the sit-to stand transition, which is conducive to osteoarthritis and increased
Robert Felmlee +7 more
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Electromagnetic Actuators for Gravity Compensation and Vibration Isolation
Sensor Letters, 2009In contrast with the vibration isolation regime, which requires active elements, the gravity compensation can be provided in a passive manner, i.e., without the need for power consumption. This paper presents two types of electromagnetic actuators whose design focuses on the passive gravity compensation and, furthermore, incorporate active elements ...
Encica, L. +3 more
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Gravity compensation of spatial two‐DOF serial manipulators
Journal of Robotic Systems, 2002AbstractThis article presents the analysis of gravity compensation of a two‐DOF serial manipulator operating in three‐dimensional space by means of linear spring suspension. The physical configuration of the serial manipulator is assumed general. The analysis begins with gravity compensation of a one‐DOF manipulator in order to form the basis which is ...
Theeraphong Wongratanaphisan, M. Chew
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Haptic Joystick Impedance Control with Gravity Compensation
2019Due to the gravity of the joystick during the remote control using the joystick, If you use it for a long time, the driver’s muscles may become tired. In order to achieve the impedance control of the joystick gravity environment, this paper proposed an impedance control method based on gravity compensation in the gravity environment. The control of the
Yong-Jin Ock +3 more
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