A Gravity Compensation Algorithm of Robot Manipulator Control based on the Trigonometric Function
Yan Wang,
Xue Chen
Abstract:The conventional gravity compensation algorithm requires precise dynamic parameters and a complex matrix transformation operation, which is difficult in applications to real-time control. In this paper, a simple and practical gravity compensation algorithm is proposed based on the space geometry characteristics of a mechanical arm and the principle of torque balance. This algorithm does not require a complex calculation of space coordinate transformation and does not require obtaining all accurate dynamic mode… Show more
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