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Title: Torque-based gravity compensation using regression for tracing trajectory
Authors: Vamsi, Grandhi
Keywords: Engineering::Mechanical engineering
Issue Date: 2022
Publisher: Nanyang Technological University
Source: Vamsi, G. (2022). Torque-based gravity compensation using regression for tracing trajectory. Final Year Project (FYP), Nanyang Technological University, Singapore.
Project: A046
Abstract: The surge in the number of robotic applications in the industry 4.0 era has led to myriads of applications, research experiments involving human-robot interaction. Hence it is essential to move towards actuators and robots that are compliant for the safety of the humans involved in the workspace. Gravity compensation in a robotic arm, aids to decrease the load on the actuator and increases the robustness of the actuator in tracing a reference trajectory. This report focuses on gravity compensation using torque-based control complemented with position control for a compliant actuator without any prior knowledge of the description of the payload. Multivariate linear regression was used to regress the commanded torque using torque control with an accuracy of 98.9%.
Schools: School of Mechanical and Aerospace Engineering 
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

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