Abstract
Recently, open source-based robotics applications have been developed, where precision in movement control is considered the main objective when following a trajectory based on direct or reverse kinematics; however, due to different disturbances, small errors can interfere with the execution of orders sent for the individual control of the manipulator’s joints. To improve the precision in the movement of the final effector within the Cartesian space, this research proposes a method based on gravitational compensation, canceling the dynamic analysis of the robotic arm. The control algorithm is a ROS-based system that integrates concepts of low-cost automation; this algorithm resides inside a low-cost controller as Raspberry Pi that is used for rapid exchange of information between the Kuka youBot robotic arm and a graphical interface that allows an interaction between the user and the system components.
Original language | English |
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Title of host publication | Developments and Advances in Defense and Security - Proceedings of MICRADS 2020 |
Editors | Álvaro Rocha, Manolo Paredes-Calderón, Teresa Guarda |
Publisher | Springer |
Pages | 199-210 |
Number of pages | 12 |
ISBN (Print) | 9789811548741 |
DOIs | |
State | Published - 1 Jan 2020 |
Event | Multidisciplinary International Conference of Research Applied to Defense and Security, MICRADS 2020 - Quito, Ecuador Duration: 13 May 2020 → 15 May 2020 |
Publication series
Name | Smart Innovation, Systems and Technologies |
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Volume | 181 |
ISSN (Print) | 2190-3018 |
ISSN (Electronic) | 2190-3026 |
Conference
Conference | Multidisciplinary International Conference of Research Applied to Defense and Security, MICRADS 2020 |
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Country/Territory | Ecuador |
City | Quito |
Period | 13/05/20 → 15/05/20 |
Bibliographical note
Publisher Copyright:© 2020, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
Keywords
- Arm manipulators
- Gravity compensation
- Kuka youBot
- Low-cost automation
- PD control
- Position control