Preprint Article Version 1 This version is not peer-reviewed

Adaptive Balancing of Robots and Mechatronic Systems

Version 1 : Received: 16 September 2018 / Approved: 17 September 2018 / Online: 17 September 2018 (11:00:54 CEST)

A peer-reviewed article of this Preprint also exists.

Ciupitu, L. Adaptive Balancing of Robots and Mechatronic Systems. Robotics 2018, 7, 68. Ciupitu, L. Adaptive Balancing of Robots and Mechatronic Systems. Robotics 2018, 7, 68.

Journal reference: Robotics 2018, 7, 68
DOI: 10.3390/robotics7040068

Abstract

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed and an example is shown. The active and exact solutions by using adaptive real time control in the case of unknown variation of static loads are simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.

Subject Areas

adaptive; balancing; counterweight; mechatronic system; robot

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