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https://hdl.handle.net/10356/159165
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Vamsi, Grandhi | en_US |
dc.date.accessioned | 2022-06-10T12:54:22Z | - |
dc.date.available | 2022-06-10T12:54:22Z | - |
dc.date.issued | 2022 | - |
dc.identifier.citation | Vamsi, G. (2022). Torque-based gravity compensation using regression for tracing trajectory. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/159165 | en_US |
dc.identifier.uri | https://hdl.handle.net/10356/159165 | - |
dc.description.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%. | en_US |
dc.language.iso | en | en_US |
dc.publisher | Nanyang Technological University | en_US |
dc.relation | A046 | en_US |
dc.subject | Engineering::Mechanical engineering | en_US |
dc.title | Torque-based gravity compensation using regression for tracing trajectory | en_US |
dc.type | Final Year Project (FYP) | en_US |
dc.contributor.supervisor | Domenico Campolo | en_US |
dc.contributor.school | School of Mechanical and Aerospace Engineering | en_US |
dc.description.degree | Bachelor of Engineering (Mechanical Engineering) | en_US |
dc.contributor.supervisoremail | d.campolo@ntu.edu.sg | en_US |
item.fulltext | With Fulltext | - |
item.grantfulltext | restricted | - |
Appears in Collections: | MAE Student Reports (FYP/IA/PA/PI) |
Files in This Item:
File | Description | Size | Format | |
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Grandhi_vamsi_FYP_final_ver2.pdf Restricted Access | 2.46 MB | Adobe PDF | View/Open |
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