Abstract—Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights. A simple passive and approximate solution is proposed and an example is shown. The active and exact solution by using adaptive real time control in the case of unknown variation of static loads is simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.
Index Terms—Adaptive; static balancing; counterweight; robot; mechatronic system.
Liviu Ciupitu, is with Politehnica University of Bucharest, Romania (e-mail: liviu.ciupitu@upb.ro).
Luige Vladareanu is with Romanian Academy, Institute of Solid Mechanics, and Romania (e-mail: luige.vladareanu@vipro.edu.ro).
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Cite: Liviu Ciupitu and Luige Vladareanu, "Adaptive Balancing by Counterweights of Robots and Mechatronic Systems," International Journal of Modeling and Optimization vol. 8, no. 3, pp. 178-182, 2018.
