This seminar is open for everyone who has registered for IROS 2024. You can get a free lunch box by attending this seminar (up to 60 participants). Enjoy lunch with a technical and social presentation.

Date:

Friday, October 18, 2024

Time:

1:00 pm – 2:00 pm

Place:

Room 15, ADNEC

Invited speaker:

Dr. Nguyen Vu Linh (VinUniversity, Vietnam)

Topic:

Gravity Compensation for Robots and Mechanisms

Abstract:

The gravity compensation of robots and mechanisms has been an attractive research theme in recent decades. Gravity compensation aims to lessen the effect of gravity on the robot caused by the masses of its links and payload. A perfect gravity compensation can completely eliminate the gravitational torques at the robot joints, allowing the robot to maintain itself at any configuration with zero input torques from the actuators. While an approximate gravity compensation only decreases the gravitational torques, it is necessary to use a small effort to keep the robot stationary at a configuration. For low-speed robotic manipulation, gravity compensation becomes more beneficial for the robot because the gravitational torques contribute the most to its actuation torques. Along with reducing the actuation torques, the gravity compensation of robots can provide other benefits, such as reducing energy consumption, the sizes of the actuators, the structural compliance of the robot, and improving safety and dynamic response. This talk will cover recent advances in gravity compensation for robots and mechanisms, focusing on design concepts and their applications.