Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot

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dc.contributor.advisorHannaford, Blakeen_US
dc.contributor.authorLewis, Andrew Wen_US
dc.date.accessioned2013-11-14T20:54:06Z
dc.date.available2014-05-14T11:05:54Z
dc.date.issued2013-11-14
dc.date.submitted2013en_US
dc.descriptionThesis (Master's)--University of Washington, 2013en_US
dc.description.abstractUsing an accelerometer on the base of a robot, it is possible to calculate the torque required from each actuator in order to maintain a known pose regardless of base orientation with respect to the direction or magnitude of gravity. A simple and novel method has been developed and implemented for overcoming gravity induced torques on the RAVEN surgical research robot. This innovation will allow for accurate control of serial robot manipulators with re-orientable bases or for those operating in non-stationary environments such as boats, space stations, or moving vehicles.en_US
dc.embargo.termsDelay release for 6 months -- then make Open Accessen_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.otherLewis_washington_0250O_12272.pdfen_US
dc.identifier.urihttp://hdl.handle.net/1773/24160
dc.language.isoen_USen_US
dc.rightsCopyright is held by the individual authors.en_US
dc.subjectaccelerometer; control; gravity compensation; RAVEN; surgical roboticsen_US
dc.subject.otherRoboticsen_US
dc.subject.othermechanical engineeringen_US
dc.titleDynamically Evaluated Gravity Compensation for the RAVEN Surgical Roboten_US
dc.typeThesisen_US

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