Reduction in gravitational torques of an industrial robot equipped with 2 DOF passive counterbalance mechanisms.
Kuk-Hyun AhnWon-Bum LeeJae-Bok SongPublished in: IROS (2016)
Keyphrases
- degrees of freedom
- end effector
- path planning
- mobile robot
- robotic arm
- inverse dynamics
- parallel robot
- motion planning
- robotic manipulator
- dynamic model
- industrial applications
- obstacle avoidance
- robotic systems
- goal directed
- human robot interaction
- robot manipulators
- vision system
- pose estimation
- autonomous robots
- experimental platform
- inverse kinematics
- control algorithm
- robot arm
- robot navigation
- configuration space
- reduction method
- humanoid robot
- multi robot
- human robot
- simulated robot
- robot control
- human operators
- joint angles
- computational models
- contact force
- position and orientation
- dynamic environments
- particle swarm optimization