# Tag Info

1 vote

### Gravity compensation

I'm afraid not, actually. Even if you have a perfect friction compensation and a perfect gravity compensation, you still need to deal with inertia. It will be extremely hard to swing it in arbitrary ...

### URScript - how to get the actual TCP pose in tool space coordinate system?

The actual TCP pose in TCP coordinate system will always be [0,0,0,0,0,0] because the TCP Coordinate system is defined in the current tool orientation.

### Robotic arm servo motor- Not enough torque

You almost always need some type of transmission between the motor and the joint. This is often a set of gears or a timing belt with 2 different sized toothed wheels. In some case it maybe a planetary ...
• 314
Here below are the expressions you ought to recruit:  \mathbf{J} \left( \mathbf{\theta} \right) = \left( \begin{matrix} \frac{\partial x_e}{\partial \theta_1} & \frac{\partial x_e}{\partial \...