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World Conference on Information Systems and Technologies

WorldCIST 2020: Trends and Innovations in Information Systems and Technologies pp 77–87Cite as

Design of a Gravity Compensation for Robot Control Based on Low-Cost Automation

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1160))

Abstract

In recent years, robotics applications based on open source have been developed, where the precision in movements is considered as the main goal when following a trajectory, however, due to different circumstances, small errors can interfere with the individual control of the manipulator joints, to improve the accuracy of the end-effector in cartesian space there are different kind of methods as the gravity compensation which is included in the dynamic model. In addition to the development of a system that integrates concepts of Industry 4.0, a low-cost controller is used for this system, where high communication and processing capabilities allow rapid exchange of information between components. In this article is developed an application over Raspberry Pi 3B for control the arm of KUKA youBot through a graphical interface where positions can be saved and reproduces.

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Acknowledgment

This work was financed by Universidad Técnica de Ambato (UTA) and their Research and Development Department (DIDE) under project CONIN-P-256-2019.

Author information

Authors and Affiliations

  1. Universidad Tecnica de Ambato, UTA, 180103, Ambato, Ecuador

    Dalia Alvarez-Montenegro, Juan Escobar-Naranjo, Geovanni D. Brito, Carlos A. Garcia & Marcelo V. Garcia

  2. University of Basque Country, UPV/EHU, 48013, Bilbao, Spain

    Marcelo V. Garcia

Authors
  1. Dalia Alvarez-Montenegro
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  2. Juan Escobar-Naranjo
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  3. Geovanni D. Brito
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  4. Carlos A. Garcia
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  5. Marcelo V. Garcia
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Corresponding author

Correspondence to Marcelo V. Garcia .

Editor information

Editors and Affiliations

  1. Departamento de Engenharia Informática, Universidade de Coimbra, Coimbra, Portugal

    Álvaro Rocha

  2. College of Engineering, The Ohio State University, Columbus, OH, USA

    Hojjat Adeli

  3. FEUP, Universidade do Porto, Porto, Portugal

    Luís Paulo Reis

  4. DIMES, Università della Calabria, Arcavacata di Rende, Italy

    Sandra Costanzo

  5. Faculty of Electrical Engineering, University of Montenegro, Podgorica, Montenegro

    Irena Orovic

  6. Universidade Portucalense, Porto, Portugal

    Fernando Moreira

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Alvarez-Montenegro, D., Escobar-Naranjo, J., Brito, G.D., Garcia, C.A., Garcia, M.V. (2020). Design of a Gravity Compensation for Robot Control Based on Low-Cost Automation. In: Rocha, Á., Adeli, H., Reis, L., Costanzo, S., Orovic, I., Moreira, F. (eds) Trends and Innovations in Information Systems and Technologies. WorldCIST 2020. Advances in Intelligent Systems and Computing, vol 1160. Springer, Cham. https://doi.org/10.1007/978-3-030-45691-7_8

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