Low-Cost Automation for Gravity Compensation of Robotic Arm
Source abstract
Abstract
During the Industry 4.0 era, the open source-based robotic arms control applications have been developed, in which the control algorithms apply for movement precision in the trajectory tracking paths based on direct or reverse kinematics. Therefore, small errors in the joint positions can summarize in large position errors of the end-effector in the industrial activities. Besides the change of the end-effector position for a given variation of the set-point in manipulator joint positions depends on the manipulator configuration. This research proposes a control based on Proportional Derivative (PD) Control with gravity compensation to show the robustness of this control scheme in the robotic arm’s industrial applications. The control algorithm is developed using a low-cost board like Raspberry Pi (RPI) where the Robot Operating System (ROS) is installed. The novelty of this approach is the development of new functions in ROS to make the PD control with gravity compensation in low-cost systems. This platform brings a fast exchange of information between the Kuka™ youBot robotic arm and a graphical user’s interface that allows a transparent interaction between them.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robot Manipulation and Learning · Robotic Mechanisms and Dynamics · Teleoperation and Haptic Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
CEA, Universidad Politecnica Salesiana, UPS, Quito 170146, Ecuador
FISEI, Universidad Tecnica de Ambato, UTA, Ambato 180206, Ecuador
DISA, University of the Basque Country, EHU/UPV, 48013 Bilbao, Spain
Funding
Universidad Tecnica de Ambato · Research and Development Department (DIDE) of Universidad Tecnica de Ambato · Secretaría de Educación Superior, Ciencia, Tecnología e Innovación
References (28)
Show source-provided references
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