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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Main Author: Vamsi, Grandhi
Other Authors: Domenico Campolo
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2022
Subjects:
Online Access:https://hdl.handle.net/10356/159165
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1591652023-03-04T20:10:22Z Torque-based gravity compensation using regression for tracing trajectory Vamsi, Grandhi Domenico Campolo School of Mechanical and Aerospace Engineering d.campolo@ntu.edu.sg Engineering::Mechanical engineering 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%. Bachelor of Engineering (Mechanical Engineering) 2022-06-10T12:54:22Z 2022-06-10T12:54:22Z 2022 Final Year Project (FYP) Vamsi, G. (2022). Torque-based gravity compensation using regression for tracing trajectory. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/159165 https://hdl.handle.net/10356/159165 en A046 application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering
spellingShingle Engineering::Mechanical engineering
Vamsi, Grandhi
Torque-based gravity compensation using regression for tracing trajectory
description 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%.
author2 Domenico Campolo
author_facet Domenico Campolo
Vamsi, Grandhi
format Final Year Project
author Vamsi, Grandhi
author_sort Vamsi, Grandhi
title Torque-based gravity compensation using regression for tracing trajectory
title_short Torque-based gravity compensation using regression for tracing trajectory
title_full Torque-based gravity compensation using regression for tracing trajectory
title_fullStr Torque-based gravity compensation using regression for tracing trajectory
title_full_unstemmed Torque-based gravity compensation using regression for tracing trajectory
title_sort torque-based gravity compensation using regression for tracing trajectory
publisher Nanyang Technological University
publishDate 2022
url https://hdl.handle.net/10356/159165
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