Gravity compensation
The software process of subtracting the expected force and torque caused by the weight of the tool and any payload from the raw force-torque sensor reading, leaving only the true contact force. Requires accurate tool mass and center-of-mass parameters and the current sensor orientation from the robot's kinematics.
Defined in 2 GAGE programs, which carry 4 distinct definitions of it. The wording above is taught in Foundations of Robotics and Physical AI.
How each discipline defines it
The same term does different work depending on who is using it. These are the definitions as each program teaches them, unedited.
The software process of subtracting the expected force and torque caused by the weight of the tool and any payload from the raw force-torque sensor reading, leaving only the true contact force. Requires accurate tool mass and center-of-mass parameters and the current sensor orientation from the robot's kinematics.
A mechanical or control approach that offsets the constant gravitational load on a joint, using a counterweight, a tuned spring, or an active control scheme, so that a motor's torque budget is spent on the task at hand rather than continuously fighting gravity. Given full treatment in (see Topic 2.4).
An engineering technique, using a counterweight, a spring, or a similar passive element, to offset the force of gravity acting on a joint or a linkage, reducing or eliminating the holding torque a motor would otherwise need to supply to keep the joint in position.
Any design approach, mechanical or software-based, that cancels or reduces the torque a joint's actuator must supply to hold a mass-loaded position against gravity, so that continuous holding torque does not have to come entirely from active motor effort.
Terms it appears with
Not an alphabetical neighbourhood: these are the terms taught in the same lessons, ranked by how often they appear together.