Manipulator counter balance force generation method

摘要

The method involves first determining the force exercised by the weight of the load to be raised, or lowered. After this has been picked up by the manipulator, the direction of the vertical components for the intended raising or lowering movement are determined. A small increase or decrease in the counterweight force, corresponding to the movement direction, is created and maintained until the intended position of the load is reached. After measuring the force exercised by the load weight, the measuring system can be taken out of operation, and if the manipulator is released the load can be automatically arrested