Low-Cost Automation for Gravity Compensation of Robotic Arm

Montalvo, William; Escobar-Naranjo, Juan; García, Carlos A.; García, Marcelo V.

doi:10.3390/app10113823

Cited by 30 publications

(11 citation statements)

References 29 publications

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“…Additionally, this dynamic model can be used to analyze deviations in the tasks of stabilizing the position of manipulation systems installed on non-rigidly stabilized platforms, for example, quadrocopters [22][23][24]. At the same time, parametric perturbations of the platform should be considered as deviations in the 6-DOF joint connecting the manipulating robot to the platform.…”

Section: Discussionmentioning

confidence: 99%

Mathematics Model for 6-DOF Joints Manipulation Robots

Krakhmalev

Gataullin

et al. 2021

Mathematics

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A universal solution to an applied problem related to the study of deviations occurring in the joints of manipulation robots, for example, due to elastic deformations or gaps in them, is proposed. A mathematical (dynamic) model obtained by the Lagrange–Euler method is presented, making it possible to investigate such deviations. Six generalized coordinates, three linear and three angulars, were used to describe the variations of each joint in the dynamic model. This made it possible to introduce into consideration joints with six degrees of freedom (6-DOF joints). In addition, mathematical models for external forces acting on the links of manipulation robots are presented. When composing matrices of coefficients of equations of motion, elements identically equal to zero were excluded, which significantly increased the computational efficiency of these equations. The dynamic model based on the obtained equations can be used in the computer simulation of manipulation robots.

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Section: Discussionmentioning

confidence: 99%

Mathematics Model for 6-DOF Joints Manipulation Robots

Krakhmalev

Gataullin

et al. 2021

Mathematics

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“…In [35], it is shown that 76% of overweight pediatric patients abandon treatment after 6 months, alleging a lack of time to attend checkups and a lack of tools to support their treatment from home. This problem is highlighted by the World Health Organization (WHO), which suggests that the development of telemedicine and mHealth, in that sense, should include parents or caregivers of children as agents of change during the treatment of patients [1,30]; only in this way could be overcome the barriers of face-to-face visits, long distances and insufficient resources [18,27].…”

Section: Mhealth For Obesity In Pediatric Patientsmentioning

confidence: 99%

TCO App: Telemonitoring and Control of Pediatric Overweight and Obesity

Huapaya

Marín

Mauricio

2021

Advances and Applications in Computer Science, Electronics and Industrial Engineering

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Continuous monitoring of the body condition of an overweight pediatric patient is of utmost importance for the success of his or her treatment. However, this represents a challenge after the first consultation because many parents present problems of time to attend the controls in the office, in addition to lack of tools to support monitoring from home, thus causing a high rate of dropout. There are telemonitoring applications for people with obesity that send data in real time, but they are focused on adults; they do not consider pediatric patients or their parents as agents of change. For this reason, TCO is presented as a mobile application for telemonitoring and control of overweight and obesity in pediatric patients, which facilitates the specialist in the communication, follow-up, and orientation of their patients through family members or caregivers, considering anthropometric indicators, automatic monitoring through rules, prescription of the food plan, and recommendation of foods and dishes of the season and region. A case study was carried out with two groups of 16 overweight and obese pediatric patients, one of them using TCO. The results show that the dropout rate was reduced by 38%, and both body mass index and average waist circumference improved by 4% and 3%, respectively. In addition, family members who did not dropout were surveyed, and satisfaction was obtained between "High" and "Very High" in the use of the application as an aid to monitoring and compliance with treatment.

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“…(3) Gravity compensation of each link: the gravity moment of each joint based on the principle of virtual displacement is derived [16], the electric drive to compensate the gravity of each link is used. In order to achieve gravity feedforward compensation, a PD control method based on a robot model is designed [17]. To solve the problem of tracking errors caused by the gravity of each joint linkage, an adaptive neural network model is designed [18].Further, a PD gravity compensation algorithm based on maximum gravity moment estimation and trigonometric function is proposed based on the spatial geometric characteristics of manipulator and the principle of torque balance [19].…”

Section: Introductionmentioning

confidence: 99%

Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

Duan

Liu

Bin

et al. 2022

Sensors

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In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by it will have a non-negligible impact on the output of the force sensor, which will seriously affect the accuracy and effect of the force control. The existing identification algorithm time is often longer, which also affects the efficiency of force control operations. In this paper, a self-developed multi-dimensional force sensor with integrated gravity/inertial force sensing function is used to directly measure the resultant force. Further, a method for the rapid identification of payload based on excitation trajectory is proposed. Firstly, both a gravity compensation algorithm and an inertial force compensation algorithm are introduced. Secondly, the optimal spatial recognition pose based on the excitation trajectory was designed, and the excitation trajectory of each joint is represented by a finite Fourier series. The least square method is used to calculate the identification parameters of the load, the gravity, and inertial force. Finally, the experiment was verified on the robot. The experimental results show that the algorithm can quickly identify the payload, and it is faster and more accurate than other algorithms.

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Low-Cost Automation for Gravity Compensation of Robotic Arm

Cited by 30 publications

References 29 publications

Mathematics Model for 6-DOF Joints Manipulation Robots

Mathematics Model for 6-DOF Joints Manipulation Robots

TCO App: Telemonitoring and Control of Pediatric Overweight and Obesity

Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

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