Gravity Compensation Using Low-Cost Automation for Robot Control

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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 languageEnglish
Title of host publicationDevelopments and Advances in Defense and Security - Proceedings of MICRADS 2020
EditorsÁlvaro Rocha, Manolo Paredes-Calderón, Teresa Guarda
Number of pages12
ISBN (Print)9789811548741
StatePublished - 1 Jan 2020
EventMultidisciplinary International Conference of Research Applied to Defense and Security, MICRADS 2020 - Quito, Ecuador
Duration: 13 May 202015 May 2020

Publication series

NameSmart Innovation, Systems and Technologies
ISSN (Print)2190-3018
ISSN (Electronic)2190-3026


ConferenceMultidisciplinary International Conference of Research Applied to Defense and Security, MICRADS 2020


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


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