Link balancing and identification for an unknown payload in an articulated robot

관절형 로보트에 있어서의 미지부하에 대한 링크의 균형화와 부하질량의 추정

This paper presents a method to balance the links of an articulated robot for an unknown payload using an automatic balancing mechanism. The balancing masses are controlled to move in their appropriate locations so that the joint torques of the links are eliminated. After balancing the mass of the payload is obtained from the balancing conditions. Based upon a series of simulation studies some results are discussed.