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|1. (WO2017150933) VARIABLE GRAVITATIONAL TORQUE COMPENSATION APPARATUS AND CONTROL METHOD THEREFOR|
|Applicants:||KOREA INSTITUTE OF MACHINERY & MATERIALS
|Title:||VARIABLE GRAVITATIONAL TORQUE COMPENSATION APPARATUS AND CONTROL METHOD THEREFOR|
Disclosed are a variable gravitational torque compensation apparatus and a control method therefor. The variable gravitational torque compensation apparatus comprises: a reference surface; a link rotatably connected at one end thereof to the reference surface so as to form the rotational center thereof and arranged such that the center of gravity thereof is spaced apart from the rotational center; an elastic means having one end coupled to the link; a wire having one side coupled to the other end of the elastic means and the other side coupled to the reference surface; an idle roller coupled to the link so as to support the wire between both ends of the wire; and a compensation torque control unit installed in the link so as to control a position of the idle roller and an elastic force of the elastic means.