Kinematic and Dynamic Modeling of the PHANToM Premium 1.0 Haptic Device: Experimental Validation

Author

Cruz-Valverde, Carlos ; Domínguez-Ramírez, Omar A. ; Ponce-de-León-Sànchez, Edgar R. ; Trejo-Mota, Itzel ; SepÙlveda-Cervantes, Gabriel

Author_Institution

Div. of Res. & Grad. Studies, Interdiscipl. Prof. Unit on Eng. & Adv. Technol., Mexico City, Mexico

fYear

2010

fDate

Sept. 28 2010-Oct. 1 2010

Firstpage

494

Lastpage

501

Abstract

This article presents the experimental verification of kinematic and dynamic models of the PHANToM Premium 1.0 haptic device. Dynamic properties are evaluated, in order to apply nonlinear control techniques and evaluation of manipulability and energy in real-time. Position kinematics and differential kinematics are validated for the trajectory planning by using joint control techniques for local haptic guidance and kinematics and dynamics operated control methods for virtual man-machine interaction (haptic interface).

Keywords

haptic interfaces; human-robot interaction; manipulator dynamics; manipulator kinematics; nonlinear control systems; position control; PHANToM Premium 1.0 haptic device; differential kinematics; dynamic modeling; haptic interface; joint control technique; kinematic modeling; local haptic guidance; manipulability evaluation; nonlinear control technique; position kinematics; trajectory planning; virtual man-machine interaction; Dynamics; Force; Haptic interfaces; Joints; Kinematics; Mathematical model; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010

Conference_Location

Morelos

Print_ISBN

978-1-4244-8149-1

Type

conf

DOI

10.1109/CERMA.2010.119

Filename

5692386