Object Weight Compensation Of A Manipulator

Tetsuro Yabuta; Shinichi Aoshima

doi:10.1117/12.943012

19 October 1987 Object Weight Compensation Of A Manipulator

Tetsuro Yabuta, Shinichi Aoshima

Proceedings Volume 0856, IECON '87: Industrial Applications of Robotics & Machine Vision; (1987) https://doi.org/10.1117/12.943012
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

Whenever a manipulator handles an unknown object, it is necessary to compensate for the weight as it causes position errors. Although the integral function of an PID control law eliminates position errors, it takes a lot of time to converge to a set point. Sometimes, it also causes the system to go unstable by increasing its order. Therefore, a feedforward control method is usually used to compensate for this weight. In the weight compensation method which does not use a force sensor, the servostiffnesses of the manipulator joints are used to identify the load mass. However, this method needs the calibration of the servostiffnesses. This paper presents a weight compensation method using only joint servo-inputs corresponding to the object weight. Therefore, it does not need the complicated calibration of the joint servostiffnesses. This paper clarifies the compensation algarithm which cancels the joint servostiffneses and presents experimental results to compensate for an object weight.

Citation Download Citation

Tetsuro Yabuta and Shinichi Aoshima "Object Weight Compensation Of A Manipulator", Proc. SPIE 0856, IECON '87: Industrial Applications of Robotics & Machine Vision, (19 October 1987); https://doi.org/10.1117/12.943012

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available