Abstract
This study proposes an autonomous decentralized coordination of a robotic arm with an electric balancer to achieve larger payload manipulation. The characteristic feature of this research is that the robotic arm performs only position control, while the electric balancer performs only weight compensation in a decentralized manner. The electric balancer is a device that assists a person’s gravity-directional transfer operation. It detects the weight of the object to be transported and generates a torque that balances the weight. Accordingly, the person performs the conveyance manipulation. When a person manipulates the electric balancer, the person learns the characteristics of the balancer to achieve the manipulation. In this study, this is presented using a learning curve. However, the robotic arm manipulates the balancer according to position control; therefore, control interference may occur. Previous studies have focused on viscosity and friction in impedance control of electric balancers. The electric balancer used in this research can modify the magnitude of inertia compensation. Consequently, the influence of the inertia compensation on the coordination assist provided to the robotic arm is discussed.
