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Gravity compensation in robotics
Advanced Robotics, 2015The actuator power required to resist joint torque caused by the weight of robot links can be a significant problem. Gravity compensation is a well-known technique in robot design to achieve equilibrium throughout the range of motion and as a result to reduce the loads on the actuator.
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A review on passive gravity compensation
2017 International conference of Electronics, Communication and Aerospace Technology (ICECA), 2017An articulated robot arm with multiple links will spend most of its energy on carrying its own weight when it works against gravity. A gravitational torque occurs due to the mass of the robot links and the payload, but most of the gravitational torque is caused by the mass of the robot links.
Yogeshkumar R. Chheta +3 more
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Visual servo for gravity compensation system
Neurocomputing, 2017Abstract This paper proposed a visual servo framework for the tower-crane-like Gravity Compensation System that is widely used in various aerospace ground tests. In this framework, a real-time detection algorithm is proposed to measure the position of the target.
Ye Jin +3 more
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Industrial Exoskeletons With Gravity Compensation Elements
2020The chapter approaches the issues of modeling the process of load lifting by a person while wearing an exoskeleton. The classification of existing gravitational compensation systems for industrial exoskeletons is shown, as well as examples of its use. A mathematical model of lifting a person's load in the exoskeleton is presented, as well as numerical ...
Sergey Fedorovich Jatsun, Andrey Yatsun
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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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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 ...
Wongratanaphisan, T., Chew, M.
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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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Passive Gravity Compensation Mechanisms: Technologies and Applications
Recent Patents on Engineering, 2011Though passive gravity-force compensation or weight balancing technology has existed for centuries, novel system designs and new applications have been emerging in the past two decades. This survey paper reviews the recent patents and technical publications related to these new developments and applications.
Qi Lu, Carlos Ortega, Ou Ma
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Robotic manipulators employing a bevel gravity compensator
International Journal of Control, Automation and Systems, 2012This paper presents robotic manipulators that employ the bevel gravity compensator. The bevel gravity compensator can counterbalance a 2-dof rotation comprised of two 1-dof gravity compensators and a bevel differential. Each 1-dof gravity compensator is equipped at the rotating bevel gear, respectively.
Changhyun Cho, Woosub Lee, Sungchul Kang
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Design of a magnetic gravity compensation system
Precision Engineering, 2006An extremely accurate positioning over relatively long ranges is accomplished by absorbing or suppressing vibrations. Highly accurate frames or stages should be supported against gravity. In addition, the external disturbance forces acting on these stages need to be cancelled in a feedback control loop.
Hol, S.A.J. +2 more
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