{"id":{"repo_id":"washington","oai_identifier":"oai:digital.lib.washington.edu:1773/24160"},"canonical_url":"https://search.dev.ndltd.org/etd/washington/oai:digital.lib.washington.edu:1773/24160","repository":{"repo_id":"washington","name":"University of Washington","base_url":"https://digital.lib.washington.edu/server/oai/request"},"display":{"title":"Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot","abstract":"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 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.","abstract_html":"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 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.","abstract_has_math":false,"creators":["Lewis, Andrew W"],"institution":null,"degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":["Hannaford, Blake"],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-11-14","date_published":"2013-11-14","updated_at":"2026-07-24T05:58:07Z","subjects":["accelerometer; control; gravity compensation; RAVEN; surgical robotics"],"languages":["en_US"],"rights":["Copyright is held by the individual authors."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1773/24160","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Hannaford, Blake"]},{"key":"dc:creator","label":"Author","values":["Lewis, Andrew W"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2013-11-14T20:54:06Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-05-14T11:05:54Z"]},{"key":"dc:date.issued","label":"Date","values":["2013-11-14"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["accelerometer; control; gravity compensation; RAVEN; surgical robotics"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_US"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright is held by the individual authors."]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["Lewis_washington_0250O_12272.pdf"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1773/24160"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis (Master's)--University of Washington, 2013"]},{"key":"dc:description.abstract","label":"Abstract","values":["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 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."]},{"key":"dc:format.mimetype","label":"Dc Format Mimetype","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot"]}]}],"canonical_facts":{"dc:contributor.advisor":["Hannaford, Blake"],"dc:creator":["Lewis, Andrew W"],"dc:date.accessioned":["2013-11-14T20:54:06Z"],"dc:date.available":["2014-05-14T11:05:54Z"],"dc:date.issued":["2013-11-14"],"dc:description":["Thesis (Master's)--University of Washington, 2013"],"dc:description.abstract":["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 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."],"dc:format.mimetype":["application/pdf"],"dc:identifier.other":["Lewis_washington_0250O_12272.pdf"],"dc:identifier.uri":["http://hdl.handle.net/1773/24160"],"dc:language.iso":["en_US"],"dc:rights":["Copyright is held by the individual authors."],"dc:subject":["accelerometer; control; gravity compensation; RAVEN; surgical robotics"],"dc:title":["Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot"],"dc:type":["Thesis"]},"updated_at":"2026-07-24T05:58:07Z"}