A force feedback algorithm for the wave-variable teleoperator with high stability

Herein, a novel, original and artful gravity compensation method, namely,the Auto-Regulation Counterweight method (ARC method) is been proposed and based on the ARC method, a haptic interface device with the well-designed ARC mechanism composed of the counterweight link, the counterweight block, the retarding mechanism and an actuator, is newly designed and implemented. A manipulator of the haptic interface device is supported with a series combined mechanism rather than parallel mechanism to obtain the large workspace. Simulations and experiments confirm the validity of the ARC method for auto- regulation gravity compensation. The kinematical equation employed to represent for interface device by the modified D-H frame is constructed and analyzed, and the scopes of workspace of the end-effector in haptic interface device is also determined.