I first state my humble probably wrong opinion on the connection of these concepts: In gravity compensation mode, each joint has equilibrium as its set point, a human demonstrator can effortlessly move the robot arm to conduct a task like pick up a ball, during this process, the orientation, angular speed and acceleration of the joint is recorded, as well as the Torque (Gravity Compensation torque plus the anti-torque the human exerted). An inverse dynamic model, mapping from (orientation, angular speed, acceleration) to Torque can be built. At reproduction phase, the path is planned by a motion encoder trying to reproduce the demonstrated trajectory, then the inverse dynamics learned is used to exert torque to achieve each point in the planned path. Is the statement correct?
Question1 : If one sees a multi-joint robot (the industry robot for production line) sitting there without power input, there is mechanical constraint which will govern the relative orientation of each joint. In gravity compensation mode, it is each separate joint can rest in arbitrary position, right?
But the human demonstrator can not ensure the individual joint always in the equilibrium state, there must be some acceleration, in this case, how the extra torque from the Gravity Compensation mechanism is executed? Is there a book about gravity compensation or the mechanics analysis of Kinesthetic Teaching?
Question2: haptic control is advantageous for gripping than simply use a joystick which might break the object or not executing enough force, is there any sources explaining technical details about how that works?