Adaptive Balancing of Robot Mechanisms

Abstract

Static balancing of a mechanical system can be regarded as the total or partial cancellation of the mechanical effects (force or moment) of static loads to the actuating system of it, in all configurations, respectively in a finite number of configurations, from functioning domain, under quasistatic conditions. Adaptive balancing is taking into consideration the variation of static loads during the functioning of mechanical systems. As a consequence the adaptive balancing requires an adaptive controlling system and, in the case of active or semi-active balancing, supplementary energy is required too. Present paper is continuing the article [1], by surveying some aspects of the adaptive static balancing problem in the case of robots.