Torque-based gravity compensation using regression for tracing trajectory

• المؤلف الرئيسي: Vamsi, Grandhi
• مؤلفون آخرون: Domenico Campolo
• التنسيق: Final Year Project
• اللغة: English
• منشور في: Nanyang Technological University 2022
• الموضوعات: Engineering::Mechanical engineering
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/159165

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%.