Ciupitu, L. Adaptive Balancing of Robots and Mechatronic Systems. Robotics2018, 7, 68.
Ciupitu, L. Adaptive Balancing of Robots and Mechatronic Systems. Robotics 2018, 7, 68.
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.
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.