Initial Investigation of Gravity and Friction Compensation of 2-DOF Robot Manipulator for Programming by Demonstration

被引：0

作者：

Kim, Min-Gyu ^{[1
]}

Park, In-Gyu ^{[1
]}

机构：

[1] Korea Inst Robot & Convergence, Root Mfg Robot Res Ctr, R&D Div, Pohang 790834, South Korea

来源：

2015 12TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2015年

关键词：

Gravity and friction compensation; programming by demonstration;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This work-in-progress introduces the dynamic simulation of gravity and friction compensation of 2-DOF robot manipulator for programming by demonstration. This project aims to teach tasks by programming by demonstration to the developing transportation system with a robot manipulator which collaborates with lifting machine and the horizontally moving machine. As beginning phase of the system development, the problem was simplified in designing the gravity and friction compensation of 2-DOF robot manipulator.

引用

页码：433 / 434

页数：2