Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot

Lewis, Andrew (2013) Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot. Masters thesis, University of Washington.

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Abstract

Using an accelerometer on the base of a robot, it is possible to calculate the torque required from each actuator in order to maintain a known pose regardless of base orientation with respect to the direction or magnitude of gravity. A simple and novel method has been developed and implemented for overcoming gravity induced torques on the RAVEN(TM) surgical research robot. This innovation will allow for accurate control of serial robot manipulators with re-orientable bases or for those operating in non-stationary environments such as boats, space stations, or moving vehicles.

Item Type: Thesis (Masters)
Subjects: C Surgical Robots > C Surgical Robots(General)
C Surgical Robots > CA Robotic Control
Divisions: Department of Mechanical Engineering
Depositing User: Tim Brown
Date Deposited: 27 Jul 2015 23:44
Last Modified: 27 Jul 2015 23:44
URI: http://brl.ee.washington.edu/eprints/id/eprint/118

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