Kinematic calibration of a 7 DoF hapic device

Precise positioning and precise force control requirement in haptic devices necessitate the kinematic calibration of the device. Since force control algorithms in haptic interfaces employ Jacobian matrix which includes kinematic model parameters, kinematic calibration is not only important for pose accuracy but also for force control. The deviation of kinematic parameters and joint transmission errors are main reasons disturbing the kinematic calibration of the manipulators. In haptic device design, capstan drives and parallelogram mechanisms are preferred to use for actuation. Hence, their transmission errors should be estimated in the kinematic calibration. This paper presents a simulation study including the estimation of the kinematic parameters and transmission errors due to the capstan drives and parallelogram mechanism for a 7 DOF haptic device. The closed chain kinematic model is preferred to use for easy implementation in the presented kinematic calibration study.