用 NVIDIA Holoscan 5 让机械臂实现失重般的手动引导
Make a Robot Arm Feel Weightless with NVIDIA Holoscan 5
NVIDIA Holoscan 5 支持构建重力补偿回路，让机械臂在被手动引导时由电机提供恰好足够的扭矩支撑自身重量并保持直立。这一交互是机器人通过示范学习、操作物体及与人协作的起点，其实现依赖持续计算逆动力学。
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...
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. Building such a loop is only possible by continuously calculating the inverse dynamics of…
来源：NVIDIA Technical Blog · developer.nvidia.com