Dynamically evaluated gravity compensation for the RAVEN surgical robot

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^TM 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.