Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot

Lewis, Andrew and Hannaford, Blake (2014) Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot. 2014 IEEE Intl. Conference on Robotics and Automation, Hong Kong.

[img] Text

Download (902kB)


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: Article
Subjects: C Surgical Robots > CA Robotic Control
Depositing User: Blake Hannaford
Date Deposited: 12 May 2017 13:16
Last Modified: 12 May 2017 13:16
URI: http://brl.ee.washington.edu/eprints/id/eprint/297

Actions (login required)

View Item View Item