Gravity Compensation Using Low-Cost Automation for Robot Control

Gustavo Caiza; Dalia Alvarez-Montenegro; Juan Escobar-Naranjo; Carlos A. Garcia; Marcelo V. Garcia

doi:10.1007/978-981-15-4875-8_18

Gravity Compensation Using Low-Cost Automation for Robot Control

Gustavo Caiza, Dalia Alvarez-Montenegro, Juan Escobar-Naranjo, Carlos A. Garcia, Marcelo V. Garcia

Research Group in Electronics Control and Automation (GIECA)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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
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	https://doi.org/10.1007/978-981-15-4875-8_18
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
Volume	181
ISSN (Print)	2190-3018
ISSN (Electronic)	2190-3026

Conference

Conference	Multidisciplinary International Conference of Research Applied to Defense and Security, MICRADS 2020
Country/Territory	Ecuador
City	Quito
Period	13/05/20 → 15/05/20

Keywords

Arm manipulators
Gravity compensation
Kuka youBot
Low-cost automation
PD control
Position control

Access to Document

10.1007/978-981-15-4875-8_18

Cite this

Caiza, G., Alvarez-Montenegro, D., Escobar-Naranjo, J., Garcia, C. A., & Garcia, M. V. (2020). Gravity Compensation Using Low-Cost Automation for Robot Control. In Á. Rocha, M. Paredes-Calderón, & T. Guarda (Eds.), Developments and Advances in Defense and Security - Proceedings of MICRADS 2020 (pp. 199-210). (Smart Innovation, Systems and Technologies; Vol. 181). Springer. https://doi.org/10.1007/978-981-15-4875-8_18

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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{\textquoteright}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.",

keywords = "Arm manipulators, Gravity compensation, Kuka youBot, Low-cost automation, PD control, Position control",

author = "Gustavo Caiza and Dalia Alvarez-Montenegro and Juan Escobar-Naranjo and Garcia, {Carlos A.} and Garcia, {Marcelo V.}",

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Caiza, G, Alvarez-Montenegro, D, Escobar-Naranjo, J, Garcia, CA & Garcia, MV 2020, Gravity Compensation Using Low-Cost Automation for Robot Control. in Á Rocha, M Paredes-Calderón & T Guarda (eds), Developments and Advances in Defense and Security - Proceedings of MICRADS 2020. Smart Innovation, Systems and Technologies, vol. 181, Springer, pp. 199-210, Multidisciplinary International Conference of Research Applied to Defense and Security, MICRADS 2020, Quito, Ecuador, 13/05/20. https://doi.org/10.1007/978-981-15-4875-8_18

Gravity Compensation Using Low-Cost Automation for Robot Control. / Caiza, Gustavo; Alvarez-Montenegro, Dalia; Escobar-Naranjo, Juan et al.
Developments and Advances in Defense and Security - Proceedings of MICRADS 2020. ed. / Álvaro Rocha; Manolo Paredes-Calderón; Teresa Guarda. Springer, 2020. p. 199-210 (Smart Innovation, Systems and Technologies; Vol. 181).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Alvarez-Montenegro, Dalia

AU - Escobar-Naranjo, Juan

AU - Garcia, Carlos A.

AU - Garcia, Marcelo V.

PY - 2020/1/1

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N2 - 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.

AB - 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.

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ER -

Caiza G, Alvarez-Montenegro D, Escobar-Naranjo J, Garcia CA, Garcia MV. Gravity Compensation Using Low-Cost Automation for Robot Control. In Rocha Á, Paredes-Calderón M, Guarda T, editors, Developments and Advances in Defense and Security - Proceedings of MICRADS 2020. Springer. 2020. p. 199-210. (Smart Innovation, Systems and Technologies). doi: 10.1007/978-981-15-4875-8_18

Gravity Compensation Using Low-Cost Automation for Robot Control

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Keywords

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