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Journal articles on the topic 'Gravity compensation'

Author: Grafiati

Published: 4 June 2021

Last updated: 26 July 2025

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1

Cho, Changhyun, and Seungjong Kim. "Static balancer for the neck of a face robot." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 3 (2013): 561–68. http://dx.doi.org/10.1177/0954406213488496.

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We propose a 3-degree of freedom gravity compensator for the neck of a robotic face. The neck of the face robot is configured with yaw-pitch-pitch-roll rotations. Since the yaw rotation is made parallel to gravity, only the pitch-pitch-roll rotations are considered for gravity compensation. The 1-degree of freedom gravity compensator is located at the first pitch joint. A 2-degree of freedom gravity compensator equivalent to the existing gravity compensator is proposed and applied to the second pitch and roll rotations. A parallelogram is adopted between the first and second pitch rotations. O

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2

Nikolayev, V. S., D. Chatain, D. Beysens, and G. Pichavant. "Magnetic Gravity Compensation." Microgravity Science and Technology 23, no. 2 (2010): 113–22. http://dx.doi.org/10.1007/s12217-010-9217-6.

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3

Demian, A. A., and A. S. Klimchik. "Gravity Compensation for Mechanisms with Prismatic Joints." Nelineinaya Dinamika 18, no. 5 (2022): 0. http://dx.doi.org/10.20537/nd221212.

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This paper is devoted to the design of gravity compensators for prismatic joints. The proposed compensator depends on the suspension of linear springs together with mechanical transmission mechanisms to achieve the constant application of force along the sliding span of the joint. The use of self-locking worm gears ensures the isolation of spring forces. A constant-force mechanism is proposed to generate counterbalance force along the motion span of the prismatic joint. The constant-force mechanism is coupled with a pin-slot mechanism to transform to adjust the spring tension to counterbalance

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4

Arakelian, Vigen. "Gravity compensation in robotics." Advanced Robotics 30, no. 2 (2015): 79–96. http://dx.doi.org/10.1080/01691864.2015.1090334.

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5

Wang, Yan, and Xue Chen. "A Gravity Compensation Algorithm of Robot Manipulator Control based on the Trigonometric Function." Frontiers in Computing and Intelligent Systems 4, no. 3 (2023): 125–32. http://dx.doi.org/10.54097/fcis.v4i3.11254.

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The conventional gravity compensation algorithm requires precise dynamic parameters and a complex matrix transformation operation, which is difficult in applications to real-time control. In this paper, a simple and practical gravity compensation algorithm is proposed based on the space geometry characteristics of a mechanical arm and the principle of torque balance. This algorithm does not require a complex calculation of space coordinate transformation and does not require obtaining all accurate dynamic models and parameters. It only requires estimating the maximum gravity moment of the mech

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6

Prange, G. B., M. J. A. Jannink, A. H. A. Stienen, H. van der Kooij, M. J. IJzerman, and H. J. Hermens. "Influence of Gravity Compensation on Muscle Activation Patterns During Different Temporal Phases of Arm Movements of Stroke Patients." Neurorehabilitation and Neural Repair 23, no. 5 (2009): 478–85. http://dx.doi.org/10.1177/1545968308328720.

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Background. Arm support to help compensate for the effects of gravity may improve functional use of the shoulder and elbow during therapy after stroke, but gravity compensation may alter motor control. Objective. To obtain quantitative information on how gravity compensation influences muscle activation patterns during functional, 3-dimensional reaching movements. Methods. Eight patients with mild hemiparesis performed 2 sets of repeated reach and retrieval movements, with and without unloading the arm, using a device that acted at the elbow and forearm to compensate for gravity. Electromyogra

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Ivanov, A. V., and S. A. Zommer. "Analysis of the umbrella-type reflector opening process on a stand with an active gravity compensation system." Spacecrafts & Technologies 5, no. 4 (2021): 208–16. http://dx.doi.org/10.26732/j.st.2021.4.04.

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During the verification of the functioning of the transformed structures in ground conditions, it is necessary to minimize the effect of gravity in order to exclude the occurrence of additional loads on the hinge assemblies and opening mechanisms. To perform this task, when testing a transformable umbrella-type reflector, stands with an active gravity compensation system are used, in which the gravity compensation force is applied to each spoke of the reflector. However, when compensating for the gravity spokes of the reflector, the fixing point of the suspension cable does not coincide with t

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Zhu, Zhuangsheng, Hao Tan, Yue Jia, and Qifei Xu. "Research on the Gravity Disturbance Compensation Terminal for High-Precision Position and Orientation System." Sensors 20, no. 17 (2020): 4932. http://dx.doi.org/10.3390/s20174932.

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The Position and Orientation System (POS) is the core device of high-resolution aerial remote sensing systems, which can obtain the real-time object position and collect target attitude information. The goal of exceeding 0.015°/0.003° of its real-time heading/attitude measurement accuracy is unlikely to be achieved without gravity disturbance compensation. In this paper, a high-precision gravity data architecture for gravity disturbance compensation technology is proposed, and a gravity database with accuracy better than 1 mGal is constructed in the test area. Based on the “Block-Time Variatio

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9

Kwon, Jay Hyoun, and Christopher Jekeli. "Gravity Requirements for Compensation of Ultra-Precise Inertial Navigation." Journal of Navigation 58, no. 3 (2005): 479–92. http://dx.doi.org/10.1017/s0373463305003395.

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Precision inertial navigation depends not only on the quality of the inertial sensors (accelerometers and gyros), but also on the accuracy of the gravity compensation. With a view toward the next-generation inertial navigation systems, based on sensors whose errors contribute as little as a few metres per hour to the navigation error budget, we have analyzed the required quality of gravity compensation to the navigation solution. The investigation considered a standard compensation method using ground data to predict the gravity vector at altitude for aircraft free-inertial navigation. The nav

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10

Wang, Hong Min, Zhi Jiang Du, Zhi Kai Zhao, and Rong Qiang Liu. "Research Gravity Compensation for Master Manipulator with Time Delay." Applied Mechanics and Materials 496-500 (January 2014): 1413–16. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.1413.

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A gravity compensation algorithm for master manipulator used in minimally invasive robot surgery is proposed in this paper. The Lagrange dynamic equation is used to solve the motor output torque for balancing the master gravity. To avoid time delay in signal processing, multi-thread and multi-event technology are used in software control system. With the algorithm, the force by hand is very small under the condition of exist gravity compensation, less output more than 90% of the external force compared with the lack of gravity compensation.

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11

Zhou, Shuai, Changcheng Yang, Yi Cheng, and Jian Jiao. "An Airborne Gravity Gradient Compensation Method Based on Convolutional and Long Short-Term Memory Neural Networks." Sensors 25, no. 2 (2025): 421. https://doi.org/10.3390/s25020421.

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As gravity exploration technology advances, gravity gradient measurement is becoming an increasingly important method for gravity detection. Airborne gravity gradient measurement is widely used in fields such as resource exploration, mineral detection, and oil and gas exploration. However, the motion and attitude changes of the aircraft can significantly affect the measurement results. To reduce the impact of the dynamic environment on the accuracy of gravity gradient measurements, compensation algorithms and techniques have become a research focus. This paper proposes a post-error compensatio

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12

Bembli, Sana, Nahla Khraief Haddad, and Safya Belghith. "Adaptive sliding mode control with gravity compensation: Application to an upper-limb exoskeleton system." MATEC Web of Conferences 261 (2019): 06001. http://dx.doi.org/10.1051/matecconf/201926106001.

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This paper presents a robust control algorithm with gravity compensation in presence of parametric uncertainties. The application deals with an upper limb exoskeleton system, aimed for a rehabilitation application. The treated system is an robot with two degrees of freedom acting on the flexion / extension movement of the shoulder and elbow. An adaptive sliding mode algorithm with gravity compensation has been developed to control the upper limb exoskeleton system. A Stability study is realized. Then, a robustness analysis in the presence of parametric uncertainties using Monte Carlo simulatio

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13

Li, Lanbin, Qiusheng Chen, and Manxin Wang. "Deflection Compensation Analysis of a 3-RRS Parallel Mechanism." Journal of Physics: Conference Series 2541, no. 1 (2023): 012004. http://dx.doi.org/10.1088/1742-6596/2541/1/012004.

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Abstract Parallel mechanisms have the advantage of high rigidity, large payload capability, and so on, but the positioning accuracy is affected by the elastic deflection arising from external load and gravity. An approach to improving accuracy by compensating elastic deflection is presented with a 3-RRS parallel mechanism as the research object. The approach is implemented by introducing springs on the moving platform and the limbs. Taking the external load, spring force, and gravity, the mechanical and deflection models are established, which can effectively separate the influence of spring f

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14

Kobayashi, Yoshitake, and Kazuo Yamafuji. "Load Estimation and Compensation Control of a Vertical Two-Link Robot." Journal of Robotics and Mechatronics 2, no. 2 (1990): 107–13. http://dx.doi.org/10.20965/jrm.1990.p0107.

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It is widely recognized that the industrial robots used in production lines or in other engineering fields are installed with comparatively higher rated actuators and have higher rigidity than required, whereas they have too small payload capacity. To achieve high speed drive and accurate positioning under a high payload is indispensable for an advanced industrial robot. In order to increase payload/deadweight ratio without losing high speed driving and accurate control of robots, the nonlinear terms in the equations of motion relating to their load and attitude must be well compensated. The a

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15

Morooka, Yukio, and Ikuo Mizuuchi. "Gravity Compensation Modular Robot: Proposal and Prototyping." Journal of Robotics and Mechatronics 31, no. 5 (2019): 697–706. http://dx.doi.org/10.20965/jrm.2019.p0697.

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If a robot system can take various shapes, then it can play various roles, such as humanoid, dog robot, and robot arm. A modular robot is a robot system in which robots are configured using multiple modules, and it is possible to configure robots of other shapes by varying the combinations of the modules. In conventional modular robots, the shape is restricted by gravity, and configurable shapes are limited. In this study, we propose a gravity compensation modular robot to solve this problem. This paper describes the design and prototyping of the gravity compensation modular robot, and provide

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16

Liu, Yu, Feng Peng, Zhen Hua, Changlong Liu, and Guoxin Zhao. "Improved Model-Free Adaptive Control of Pneumatic Gravity Compensation System." Journal of Advanced Computational Intelligence and Intelligent Informatics 24, no. 3 (2020): 357–65. http://dx.doi.org/10.20965/jaciii.2020.p0357.

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A pneumatic gravity compensation system is typically nonlinear in behavior. It is difficult to establish an accurate mathematical model for it, and it is particularly difficult to realize high-precision pressure control. A pneumatic gravity compensation system driven by a frictionless cylinder is built. Considering that the traditional model-free adaptive control is slow for pseudo-gradient identification, an improved model-free adaptive control is proposed to predict the changes in the pseudo gradient and accelerate the process of pseudo gradient identification. The static and dynamic gravity

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17

Jin, Ye, Rui Wu, Weiming Liu, and Xianglong Tang. "Visual servo for gravity compensation system." Neurocomputing 269 (December 2017): 256–60. http://dx.doi.org/10.1016/j.neucom.2017.04.071.

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18

MOROOKA, Yukio, and Ikuo MIZUUCHI. "Proposal of Gravity Compensation Modular Robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 1P2—F16. http://dx.doi.org/10.1299/jsmermd.2018.1p2-f16.

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19

Zhu, Zhuangsheng, Yiyang Guo, and Wen Ye. "A Real-time Gravity Compensation Method for a High-Precision Airborne Position and Orientation System based on a Gravity Map." Journal of Navigation 71, no. 3 (2017): 711–28. http://dx.doi.org/10.1017/s0373463317000790.

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Motion compensation is a significant part of an airborne remote sensing system. A Position and Orientation System (POS) can directly measure the motion information of an airborne remote sensing payload that can improve the quality of airborne remote sensing images. Gravity disturbance, information on which is often ignored due to being difficult to acquire in real-time, has become the main error source of POS in the development of inertial components. In this paper, a new real-time gravity compensation method is proposed, which includes the gravity disturbance as the error states of a POS Kalm

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20

Huang, Lingtao, Hironao Yamada, Tao Ni, and Yanan Li. "A master–slave control method with gravity compensation for a hydraulic teleoperation construction robot." Advances in Mechanical Engineering 9, no. 7 (2017): 168781401770970. http://dx.doi.org/10.1177/1687814017709701.

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This research develops a gravity compensation method that determines the mass of a task object easily and compensates for the external force caused by the task object when it is conveyed by a hydraulic teleoperation construction robot. Moreover, this study establishes a master–slave system for this robot; two joysticks act as the master, and an excavator with four links (fork glove, swing, boom, and arm) represents the slave. To compensate for the influence of gravity, a previous gravity compensation method is proposed and applied to the boom and arm. However, it is ineffective during the conv

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21

Amer, Ahmed Foad, Elsayed Abdelhameed Sallam, and Wael Mohammed Elawady. "Fuzzy Self-Tuning Precompensation PD Control with Gravity Compensation of 3 DOF Planar Robot Manipulators." Journal of Robotics and Mechatronics 22, no. 4 (2010): 551–60. http://dx.doi.org/10.20965/jrm.2010.p0551.

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Industrial robot control covers nonlinearity, uncertainty and external perturbation considered in control laws design. Proportional and Derivative (PD) with gravity compensation control is well-known control used in manipulators to ensure global asymptotic stability for fixed symmetrical positive definite gain matrices. To enhance PD with gravity compensation controller performance, in this paper, we propose hybrid fuzzy PD control precompensation with gravity compensation, consisting of a fuzzy logic-based precompensator followed by hybrid fuzzy PD with gravity compensation controller. Hybrid

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22

Shi, Yong Chao, Chun Long Xu, Zuo Sheng Lei, Yun Bo Zhong, and Jia Hong Guo. "Numerical Simulation of Magnetic Gravity Compensation for Ferrofluid." Advanced Materials Research 945-949 (June 2014): 904–7. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.904.

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Under reduced or micro gravity, bubble dynamic behaviors in liquid melts or liquid solutions are important and common problems on optimizing many processes in space science and technology. Due to limited availability experiments under reduced or micro gravity condition, the studies in this area is still quiet fragmentary. For this reason, we develop two pairs of Helmholtz-Maxwell (H-M) coils, which can produce a uniform gradient magnetic field for the ferrofluid filled in a closed Hele-Shaw cell, so as to achieve reduced or micro gravity condition. Afterwards, we establish the multi-physics ma

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23

Zyada, Zakarya, Yasuhisa Hasegawa, and Toshio Fukuda. "Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Control with Actuators’ Forces Fuzzy Compensation." Journal of Advanced Computational Intelligence and Intelligent Informatics 6, no. 3 (2002): 100–108. http://dx.doi.org/10.20965/jaciii.2002.p0100.

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This paper proposes fuzzy compensation for actuators’ motion forces, (dynamics, gravity and friction) in a force/motion control algorithm for the assembly of segments of a shield tunnel excavation applying a 6 DOF hydraulic parallel link manipulator. First, we introduce the feedback force/motion control algorithm with fuzzy forces compensation. Then, we introduce a rule-base fuzzy compensating model and its real-time implementation for every hydraulic actuator of a Stewart Platform so that we can reduce the effect of friction forces and hence improve the quality of force control and assembly.

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24

TIE, Junbo, Meiping WU, Juliang Cao, Junxiang Lian, Shaokun Cai, and Lin Wang. "The Optimal Degree of Gravity Spherical Harmonic Model Calculation for Gravity Disturbance Compensation in Inertial Navigation." MATEC Web of Conferences 160 (2018): 07004. http://dx.doi.org/10.1051/matecconf/201816007004.

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In recent years, the significant improvement of inertial navigation, leaves the gravity disturbance as the important factor which affects the accuracy of inertial navigation. This paper focus on the compensation for gravity disturbance with gravity spherical harmonic model, especially the optimal degree of gravity spherical harmonic model with which to calculate the gravity disturbance. The effect of gravity disturbance on inertial navigation is analysed based on the amplitude-frequency response characteristics of inertial navigation error differential equation, then the dominantly influential

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25

Qian, Xuewu, and Yanhua Zhu. "Self-Gradient Compensation of Full-Tensor Airborne Gravity Gradiometer." Sensors 19, no. 8 (2019): 1950. http://dx.doi.org/10.3390/s19081950.

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In the process of airborne gravity gradiometry for the full-tensor airborne gravity gradiometer (FTAGG), the attitude of the carrier and the fuel mass will seriously affect the accuracy of gravity gradiometry. A self-gradient is the gravity gradient produced by the surrounding masses, and the surrounding masses include distribution mass for the carrier mass and fuel mass. In this paper, in order to improve the accuracy of airborne gravity gradiometry, a self-gradient compensation model is proposed for FTAGG. The self-gradient compensation model is a fuction of attitude for carrier and time, an

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CHEN, ZHAOPENG, NEAL Y. LII, THOMAS WIMBÖCK, SHAOWEI FAN, and HONG LIU. "EXPERIMENTAL EVALUATION OF CARTESIAN AND JOINT IMPEDANCE CONTROL WITH ADAPTIVE FRICTION COMPENSATION FOR THE DEXTEROUS ROBOT HAND DLR-HIT II." International Journal of Humanoid Robotics 08, no. 04 (2011): 649–71. http://dx.doi.org/10.1142/s0219843611002605.

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This paper presents impedance controllers with adaptive friction compensation for the five-finger dexterous robot hand DLR-HIT II in both joint and Cartesian space. An FPGA-based control hardware and software architecture with real-time communication is designed to fulfill the requirements of the impedance controller. Modeling of the robot finger with flexible joints and mechanical couplings in the differential gear-box are described in this paper. In order to address the friction due to the complex transmission system and joint coupling, an adaptive model-based friction estimation method is c

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27

Ono, Yoshiki, and Toshio Morita. "Vertical Planar Underactuated Manipulation Using a Gravity Compensation Mechanism." Journal of Robotics and Mechatronics 17, no. 5 (2005): 553–59. http://dx.doi.org/10.20965/jrm.2005.p0553.

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We propose generating and erasing equilibrium points for passive joints, together with an underactuated manipulator having both vertical and horizontal planar type. This manipulator implements three degrees of freedom (DOF) by combining a passive two-DOF mechanical gravity canceller and an active base joint. Equilibrium points are erased and adjusted by angular variation of the base joint so equilibrium points are erased when gravity torque is zero. If gravity torque is not zero, equilibrium points depend on angular variation of the base joint. Experimental results show position control of the

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28

LIU, Yu. "Pressure Control of Pneumatic Gravity Compensation System." Journal of Mechanical Engineering 54, no. 16 (2018): 212. http://dx.doi.org/10.3901/jme.2018.16.212.

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29

Lu, Qi, Carlos Ortega, and Ou Ma. "Passive Gravity Compensation Mechanisms: Technologies and Applications." Recent Patents on Engineering 5, no. 1 (2011): 32–44. http://dx.doi.org/10.2174/1872212111105010032.

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30

Maaroof, Omar W., Saad Zaghlul Saeed, and Mehmet İsmet Can Dede. "Partial gravity compensation of a surgical robot." International Journal of Advanced Robotic Systems 18, no. 3 (2021): 172988142110154. http://dx.doi.org/10.1177/17298814211015481.

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Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements fro

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31

White, G. C., and Yangsheng Xu. "An active vertical-direction gravity compensation system." IEEE Transactions on Instrumentation and Measurement 43, no. 6 (1994): 786–92. http://dx.doi.org/10.1109/19.368066.

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32

Hol, S. A. J., E. Lomonova, and A. J. A. Vandenput. "Design of a magnetic gravity compensation system." Precision Engineering 30, no. 3 (2006): 265–73. http://dx.doi.org/10.1016/j.precisioneng.2005.09.005.

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33

Chang, Lubin, Fangjun Qin, and Meiping Wu. "Gravity Disturbance Compensation for Inertial Navigation System." IEEE Transactions on Instrumentation and Measurement 68, no. 10 (2019): 3751–65. http://dx.doi.org/10.1109/tim.2018.2879145.

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YAMADA, Yasuyuki. "Gravity compensation mechanism using double-angle formula." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 (2019): 2A2—F01. http://dx.doi.org/10.1299/jsmermd.2019.2a2-f01.

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35

Lorin, C., and A. Mailfert. "Magnetic Compensation of Gravity and Centrifugal Forces." Microgravity Science and Technology 21, no. 1-2 (2008): 123–27. http://dx.doi.org/10.1007/s12217-008-9056-x.

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36

Pichavant, G., B. Cariteau, D. Chatain, V. Nikolayev, and D. Beysens. "Magnetic Compensation of Gravity: Experiments with Oxygen." Microgravity Science and Technology 21, no. 1-2 (2008): 129–33. http://dx.doi.org/10.1007/s12217-008-9089-1.

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37

Hao, Shiwen, Zhili Zhang, Zhaofa Zhou, Junyang Zhao, Zhenjun Chang, and Zhihao Xu. "Analysis of Deflection of Vertical Compensation for Inertial Navigation System." Mathematical Problems in Engineering 2020 (December 1, 2020): 1–15. http://dx.doi.org/10.1155/2020/1975672.

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With the development of high-precision inertial navigation systems, the deflection of vertical (DOV), gravity disturbance, is still one of the main error sources that restrict navigation accuracy. For the DOV compensation of the Strapdown Inertial Navigation System (SINS) problem, the influences of the calculation degree of the spherical harmonic coefficient and the calculation error of the DOV on the compensation effect were studied. Based on the SINS error model, the error propagation characteristics of the DOV in SINS were analyzed. In addition, the high-precision global gravity field spher

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Zhou, Xiao, Gongliu Yang, Jing Wang, and Zeyang Wen. "A Combined Gravity Compensation Method for INS Using the Simplified Gravity Model and Gravity Database." Sensors 18, no. 5 (2018): 1552. http://dx.doi.org/10.3390/s18051552.

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Takesue, Naoyuki, Takashi Ikematsu, Hideyuki Murayama, and Hideo Fujimoto. "Design and Prototype of Variable Gravity Compensation Mechanism (VGCM)." Journal of Robotics and Mechatronics 23, no. 2 (2011): 249–57. http://dx.doi.org/10.20965/jrm.2011.p0249.

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A machine moving vertically requires strong gravitational resistance. Gravity compensation mechanisms devised to reduce actuator force mostly compensate for constant weight, but practical use requires that the mechanism compensate for weight variations. This paper presents a Variable Gravity Compensation Mechanism (VGCM) that uses two types of linear springs and changes the equilibrium position of one. The mechanism principle is described and the prototype is designed. Performance is experimentally confirmed.

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Zhang, Xiao, Zainan Jiang, Zhen Zhao, Yun He, Zhigang Xu, and Yong Liu. "Intelligent Control of a Space Manipulator Ground Unfold Experiment System with Lagging Compensation." Applied Sciences 13, no. 9 (2023): 5508. http://dx.doi.org/10.3390/app13095508.

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In ground testing of space manipulators, gravity compensation is a critical testing requirement. The objective of this paper was to design a space manipulator gravity compensation test platform for ground tests and solve the problems of force control oscillation and precision degradation caused by the execution lag encountered in the development process. An intelligent PID controller was designed for this active-suspension gravity compensation experimental mechanism of a space manipulator on the ground, and a specially designed second-order method was used to solve the problem of the execution

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Xu, Yuwei, Hongbo Wu, Guangwei Shi, Haokun Ye, Jipeng Zhang, and Yuqi Huang. "High-Precision Compensation Method for Image Plane Deformation in the Doubly Telecentric Projection Optical System." Applied Sciences 15, no. 5 (2025): 2691. https://doi.org/10.3390/app15052691.

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The deformation of the image plane due to gravity, clamping forces, and surface shape errors can significantly impact the exposure accuracy and imaging quality of the doubly telecentric projection optical system. To address the issues of resolution and image quality degradation resulting from non-conjugate image planes, this paper proposes a high-precision method for compensating image plane deformation using a dual-prism approach, establishes an analytical compensation model, and the theoretical derivation and quantification of the effects of compensation devices on image plane defocus, tilt,

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Jin, Lixing, Xingguang Duan, Rui He, Fansheng Meng, and Changsheng Li. "Improving the Force Display of Haptic Device Based on Gravity Compensation for Surgical Robotics." Machines 10, no. 10 (2022): 903. http://dx.doi.org/10.3390/machines10100903.

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Haptic devices are applied as masters to provide force displays for telemedicinal robots. Gravity compensation has been proven to be crucial for the accuracy and capability of force displays, which are critical for haptic devices to assist operators. Therefore, the existing method suffers from an unsatisfactory effect, a complex implementation, and low efficiency. In this paper, an approach combining active and passive gravity compensation is proposed to improve the performance of a force display. The passive compensation is conducted by counterweights fixed with the moving platform and pantog

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Schulte Westhoff, Bela, and Jürgen Maas. "Design of an Electromagnetic Linear Drive with Permanent Magnetic Weight Compensation." Actuators 13, no. 3 (2024): 107. http://dx.doi.org/10.3390/act13030107.

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When using electric linear drives for vertical positioning of workloads, a constant force both during movement and at standstill must be supplied to compensate gravity. Compensating stationary forces by the use of passive components reduces the power consumption of the employed actuator and permits smaller dimensioning. In this article, we present a novel integrative actuator design which combines the inherent advantages of a permanent magnetic weight compensation with a two-phase linear direct drive. We illustrate how to design permanent magnetic force compensation to realize a constant compe

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Mashayekhi, Ahmad, Ali Nahvi, Mojtaba Yazdani, Majid Mohammadi Moghadam, Mohammadreza Arbabtafti, and Mohsen Norouzi. "VirSense: a novel haptic device with fixed-base motors and a gravity compensation system." Industrial Robot: An International Journal 41, no. 1 (2014): 37–49. http://dx.doi.org/10.1108/ir-02-2013-328.

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Purpose – This paper aims to present the design and implementation of VirSense, a novel six-DOF haptic interface system, with an emphasis on its gravity compensation and fixed-base motors. Design/methodology/approach – In this paper, the design and manufacture of the VirSense robot and its comparison with the existing haptic devices are presented. The kinematic analysis of the robot, design of the components, and manufacturing of the robot are explained as well. Findings – The proposed system is employed to generate a Virtual Sense (VirSense) with fixed-base motors and a spring compensation sy

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Lin, ZeCai, Wang Xin, Jian Yang, Zhang QingPei, and Lu ZongJie. "Dynamic trajectory-tracking control method of robotic transcranial magnetic stimulation with end-effector gravity compensation based on force sensors." Industrial Robot: An International Journal 45, no. 6 (2018): 722–31. http://dx.doi.org/10.1108/ir-03-2018-0051.

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Purpose This paper aims to propose a dynamic trajectory-tracking control method for robotic transcranial magnetic stimulation (TMS), based on force sensors, which follows the dynamic movement of the patient’s head during treatment. Design/methodology/approach First, end-effector gravity compensation methods based on kinematics and back-propagation (BP) neural networks are presented and compared. Second, a dynamic trajectory-tracking method is tested using force/position hybrid control. Finally, an adaptive proportional-derivative (PD) controller is adopted to make pose corrections. All the met

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Scheffler, Guillermo, and Manuel Pulido. "Compensation between Resolved and Unresolved Wave Drag in the Stratospheric Final Warmings of the Southern Hemisphere." Journal of the Atmospheric Sciences 72, no. 11 (2015): 4393–411. http://dx.doi.org/10.1175/jas-d-14-0270.1.

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Abstract The role of planetary wave drag and gravity wave drag in the breakdown of the stratospheric polar vortex and its associated final warming in the Southern Hemisphere is examined using reanalyses from MERRA and a middle-atmosphere dynamical model. The focus of this work is on identifying the causes of the delay in the final breakdown of the stratospheric polar vortex found in current general circulation models. Sensitivity experiments were conducted by changing the launched momentum flux in the gravity wave drag parameterization. Increasing the launched momentum flux produces a delay of

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Fugal, Jonathan, Jihye Bae, and Hasan A. Poonawala. "On the Impact of Gravity Compensation on Reinforcement Learning in Goal-Reaching Tasks for Robotic Manipulators." Robotics 10, no. 1 (2021): 46. http://dx.doi.org/10.3390/robotics10010046.

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Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classical control-based strategies, or time consuming and computationally expensive data-driven training when using learning-based strategies. Combination of classical control and learning-based strategies may mitigate both requirements. However, the performance of the combined control system is not obvious given that there are two separate controllers. Th

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Lv, Zhiyuan, Pengfei Liu, Donghong Ning, and Shuqing Wang. "Anti-Swaying Control Strategy of Ship-Mounted 3-RCU Parallel Platform Based on Dynamic Gravity Compensation." Machines 12, no. 3 (2024): 209. http://dx.doi.org/10.3390/machines12030209.

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It is essential to ensure stability during marine transportation or the installation of high center of gravity loads. The heavy loads increase gravity disturbance, affecting the steady-state-error control of the multiple degrees of freedom (DOFs) motion compensation platform. In this paper, we propose a proportional derivative (PD) controller with dynamic gravity compensation (PDGC) for a 3-RCU (revolute–cylindrical–universal) parallel platform to improve the control effect of marine motion compensation for high center of gravity loads. We introduce an evaluation parameter of load stability an

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Li, Chen, Huijuan Wang, Zhicheng Hu, Chen Wang, and Jinbao Chen. "Design and Analysis of Low-Gravity Simulation Scheme for Mars Ascent Vehicle." Aerospace 11, no. 6 (2024): 424. http://dx.doi.org/10.3390/aerospace11060424.

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The sample carried back by the Mars Ascent Vehicle (MAV) is a potential flagship mission of deep space exploration in recent years. A low-gravity simulation experiment is an effective method and a necessary stage for verifying the performance of the MAV launch dynamic in Earth’s gravity. In this paper, the uniqueness of low-gravity simulation is illustrated by the classical pulley balance method for the high dynamic process of a test model of the MAV. Its movement direction is the same as the compensation force, which leads to the relaxation of the sling and the failure of the compensation for

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Tenzer, Robert. "Gravimetric recovery of the Moho geometry based on a generalized compensation model." Contributions to Geophysics and Geodesy 43, no. 4 (2013): 253–69. http://dx.doi.org/10.2478/congeo-2013-0016.

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Abstract Gravity data used for a recovery of the Moho depths should (optimally) comprise only the gravitational signal of the Moho geometry. This theoretical assumption is typically not required in classical isostatic models, which are applied in gravimetric inverse methods for a recovery of the Moho interface. To overcome this theoretical deficiency, we formulate the gravimetric inverse problem for the consolidated crust-stripped gravity disturbances, which have (theoretically) a maximum correlation with the Moho geometry, while the gravitational contributions of anomalous density structures

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