2026-09-20T13:58:32Zhttps://digital.lib.washington.edu/server/oai/request

oai:digital.lib.washington.edu:1773/241602025-01-07T20:53:21Zcom_1773_4888col_1773_4940

Hannaford, Blake Lewis, Andrew W 2013-11-14T20:54:06Z 2014-05-14T11:05:54Z 2013-11-14 2013 Lewis_washington_0250O_12272.pdf http://hdl.handle.net/1773/24160 Thesis (Master's)--University of Washington, 2013 Using 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. application/pdf en_US Copyright is held by the individual authors. accelerometer; control; gravity compensation; RAVEN; surgical robotics Robotics mechanical engineering Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot Thesis Delay release for 6 months -- then make Open Access open.access