Research on gravity compensation algorithm for tool-assembling with force control in remote welding

Based on the control strategy of global teleoperative and local autonomous, a tool-assembling experimental system with force control for remote welding is established.The tool gravity calculation and linear least-squares algorithm are adopted to calibrate the tool load parameter, and a tool gravity compensation algorithm based on the tool load parameter vector is proposed to eliminate the gravity disturbance during the tool-assembling process with force control.For a customized assembing tool, experiments on load parameter calibration and gravity compensation in non-contact condition are carried out.The experimental results show that the tool gravity compensation algorithm can obtain a high precision, meeting the requirements of local autonomous force control in tool-assembing task, while the maximum error of gravity compensation and gravity moment compensation are 1 N and 0.1 N·m, respectively.