Low-cost automation for gravity compensation of robotic arm

William Montalvo, Juan Escobar-Naranjo, Carlos A. Garcia, Marcelo V. Garcia

Research output: Contribution to journalArticlepeer-review

29 Scopus citations


During the Industry 4.0 era, the open source-based robotic arms control applications have been developed, in which the control algorithms apply for movement precision in the trajectory tracking paths based on direct or reverse kinematics. Therefore, small errors in the joint positions can summarize in large position errors of the end-effector in the industrial activities. Besides the change of the end-effector position for a given variation of the set-point in manipulator joint positions depends on the manipulator configuration. This research proposes a control based on Proportional Derivative (PD) Control with gravity compensation to show the robustness of this control scheme in the robotic arm's industrial applications. The control algorithm is developed using a low-cost board like Raspberry Pi (RPI) where the Robot Operating System (ROS) is installed. The novelty of this approach is the development of new functions in ROS to make the PD control with gravity compensation in low-cost systems. This platform brings a fast exchange of information between the Kuka™ youBot robotic arm and a graphical user's interface that allows a transparent interaction between them.

Original languageEnglish
Article number3823
JournalApplied Sciences (Switzerland)
Issue number11
StatePublished - 1 Jun 2020

Bibliographical note

Funding Information:
Funding: This work was supported by Universidad Tecnica de Ambato (UTA) and their Research and Development Department (DIDE) under project CONIN-P-256-2019, and SENESCYT by grants “Convocatoria Abierta 2011”, “Convocatoria Abierta 2013”, and “Convocatoria Abierta 2018”.

Publisher Copyright:
© 2020 by the authors.


  • Gravity compensation
  • Kuka youBot
  • Low-cost automation
  • PD control
  • Robotic arm


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