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Calibration Algorithm of a Spring Static Balancer

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Abstract

This paper proposes a calibration algorithm of a spring static balancer to overcome uncertainties of link parameters or spring constants. The location of the spring attachment is adjusted in this paper considering unbalancing torques. Various algorithms are suggested to determine the location of the spring attachment: 1) an estimation algorithm for static situation is derived from the design equation of the space mapping method; 2) TDE (time delay estimation) is adopted to derive estimation algorithms; 3) an estimation algorithm with no joint torque sensing is derived on the basis of TDE. TDE is adopted to estimate unbalancing static torques. The proposed algorithms are evaluated with the two-dof (degree of freedom) manipulator with the bevel gravity compensator in that two springs are located at the same link. Performances of the proposed algorithms are compared with experimental results. Application to the case of the varying load is discussed and it is showed that the suggested algorithms are applicable to the both cases of uncertainties and varying loads.

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Author information

Authors and Affiliations

  1. School of Mechanical Systems and Automotive Engineering, Chosun University, 309, Pilmun-daero, Dong-gu, Gwangju, 61452, Republic of Korea

    Chang-Hyun Cho

  2. School of Mechanical Engineering, Sungkyunkwan University, 2066, Seobu-ro, Jangan-gu, Suwon-si, Gyeonggi-do, 16419, Republic of Korea

    Mun-Taek Choi

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  1. Chang-Hyun Cho
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Correspondence to Mun-Taek Choi.

Additional information

Chang-Hyun Cho Received the B.S. and M.S. degrees in Mechanical Engineering from Kyunghee University, Suwon, Rep. of Korea, in 1997 and 1999, respectively, and the Ph.D. degree in the same discipline from Korea University, Seoul, Rep. of Korea, in 2005. He was a member of the faculty of the Department of Control, Instruments, and Robotics, Chosun University, Kwangju, Korea, from 2008 to 2013. He has joined the faculty of School of Mechanical System & Automotive Engineering, Chosun University since 2014, and is currently a Professor. His current research interests involve mechanism design and the control of robotic systems.

Mun-Taek Choi Received his B.S., M.S. and Ph.D. degree in Aerospace and Mechanical Engineering from University of Southern California in 1994, 1997 and 2000, respectively. He is an Associate Professor at Sungkyunkwan University, Republic of Korea. His research interests include robot learning, big data analysis on robotic applications and dynamics & control of mechanical systems. He currently works on projects developing robotic services for diagnosing and training children with disabilities; identifying and improving geriatric mood disorder from dementia; and assisting rehabilitation of patients with motor disorders from stroke or spinal cord disease.

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Cho, CH., Choi, MT. Calibration Algorithm of a Spring Static Balancer. Int. J. Precis. Eng. Manuf. 19, 1477–1485 (2018). https://doi.org/10.1007/s12541-018-0174-0

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  • DOI: https://doi.org/10.1007/s12541-018-0174-0

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