Picture guiding a robot arm by hand while its motors supply just enough torque to support its weight and keep the robot upright. This simple interaction, a useful starting point for robots that learn by demonstration, manipulate objects, or work alongside people, depends on a gravity-compensation loop.
Official announcementNVIDIA Developer Blog
Make a Robot Arm Feel Weightless with NVIDIA Holoscan 5
From the official release
Building such a loop is only possible by continuously calculating the inverse dynamics of the system based on precise models of all the links of the robot arm, their dimensions, masses, and moments of inertia. This calculation, which needs to be done rapidly with low jitter, requires knowing the current state of the robot, so gravity-comp demos are an excellent proof of life for both the robot model and the runtime that’s executing these algorithms.
This is a short excerpt. Read the full announcement on the official source.
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