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头脑冷静

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A Modularization Approach for Gravity Compensation of Planar Articulated Robotic Manipulators,ized by installing a set of gear-spring modules (GSMs) on the manipulator so that the gravitational torques can be eliminated by the spring torques applied on its joints. The design concept and mathematical formulation for the gravity compensation of the GSM are presented. Then, the gravity compensa

certitude

黑豹

Multi-DOF Counterbalancing and Applications to Robots,ues due to the robot mass and/or payload can be compensated by some means, the robot would need much smaller torques for its operation, which can save energy and enables the use of cheaper actuator modules. To this end, counterbalance mechanisms (CBMs) or passive gravity compensators, which can full

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向下五度才偏

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Tool Compensation for a Medical Cobot-Assistant, as for Doppler sonography, minimally invasive surgery or craniotomy. Since the cobot requires a whole knowledge of its dynamic model to ensure an optimal performance in terms of accuracy, stability and safety during human–robot interaction, the inertial parameters of the medical tools attached to i

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