Gravity Compensation Using Low-Cost Automation for Robot Control

Abstract

Recently, open source-based robotics applications have been developed, where precision in movement control is considered the main objective when following a trajectory based on direct or reverse kinematics; however, due to different disturbances, small errors can interfere with the execution of orders sent for the individual control of the manipulator’s joints. To improve the precision in the movement of the final effector within the Cartesian space, this research proposes a method based on gravitational compensation, canceling the dynamic analysis of the robotic arm. The control algorithm is a ROS-based system that integrates concepts of low-cost automation; this algorithm resides inside a low-cost controller as Raspberry Pi that is used for rapid exchange of information between the Kuka youBot robotic arm and a graphical interface that allows an interaction between the user and the system components.