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Design of a gravity compensation for robot control based on low-cost automation

Abstract:

In recent years, robotics applications based on open source have been developed, where the precision in movements is considered as the main goal when following a trajectory, however, due to different circumstances, small errors can interfere with the individual control of the manipulator joints, to improve the accuracy of the end-effector in cartesian space there are different kind of methods as the gravity compensation which is included in the dynamic model. In addition to the development of a system that integrates concepts of Industry 4.0, a low-cost controller is used for this system, where high communication and processing capabilities allow rapid exchange of information between components. In this article is developed an application over Raspberry Pi 3B for control the arm of KUKA youBot through a graphical interface where positions can be saved and reproduces.