NVIDIA Holoscan 5 实现机器人手臂失重感
Make a Robot Arm Feel Weightless with NVIDIA Holoscan 5
NVIDIA Holoscan 5 通过持续计算逆动力学实现重力补偿，使机器人手臂在操作时仅需提供支撑重量的扭矩。该技术支持通过示教学习、物体操作或人机协作的机器人应用，依赖重力补偿回路构建。
Picture guiding a robot arm by hand while its motors supply just enough torque to support its weight and keep the robot upright. This simple interaction, a...
Picture guiding a robot arm by hand while its motors supply just enough torque to support its weight and keep the robot upright. This simple interaction, a useful starting point for robots that learn by demonstration, manipulate objects, or work alongside people, depends on a gravity-compensation loop. Building such a loop is only possible by continuously calculating the inverse dynamics of…
来源: NVIDIA Technical Blog · developer.nvidia.com