Torque-based gravity compensation using regression for tracing trajectory
The surge in the number of robotic applications in the industry 4.0 era has led to myriads of applications, research experiments involving human-robot interaction. Hence it is essential to move towards actuators and robots that are compliant for the safety of the humans involved in the workspa...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/159165 |
| Summary: | The surge in the number of robotic applications in the industry 4.0 era has led to
myriads of applications, research experiments involving human-robot
interaction. Hence it is essential to move towards actuators and robots that are
compliant for the safety of the humans involved in the workspace. Gravity
compensation in a robotic arm, aids to decrease the load on the actuator and
increases the robustness of the actuator in tracing a reference trajectory. This
report focuses on gravity compensation using torque-based control
complemented with position control for a compliant actuator without any prior
knowledge of the description of the payload. Multivariate linear regression was
used to regress the commanded torque using torque control with an accuracy of
98.9%. |
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