Abstract
This paper addresses the problem of balancing as applied to robotic manipulators. After briefly outlining the existing balancing techniques, this paper proposes to achieve the balancing by adding non-linear springs to compensate gravity. Numerical simulations are carried out to demonstrate the feasibility and effectiveness of the proposed approach by referring to a pick-and-place task.
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Gatti, G., Carbone, G. (2021). Gravity Compensation of Robotic Manipulators Using Non-linear Spring Configurations. In: Niola, V., Gasparetto, A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science, vol 91. Springer, Cham. https://doi.org/10.1007/978-3-030-55807-9_35
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DOI: https://doi.org/10.1007/978-3-030-55807-9_35
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