Kinematic Calibration of PHANTOM Premium 1.5/6DOF Haptic Device

Abstract:

Article Preview

Precise positioning and precise force control requirement in haptic devices necessitate the calibration of the device. Since force control algorithms in haptic interfaces employ Jacobian matrix that includes kinematic model parameters, calibration is not only important for pose accuracy but also for force control. The deviation in kinematic parameters and joint transmission errors are main reasons disturbing the calibration of the haptic devices. Capstan drives and parallelogram mechanisms are preferred to use for actuation in haptic device design. Their transmission errors should be estimated in the calibration. This paper presents a simulation study including the estimation of kinematic parameters and transmission errors due to the capstan drives and parallelogram mechanism for a PHANTOM Premium haptic device.

Info:

Periodical:

Edited by:

Daizhong Su, Kai Xue and Shifan Zhu

Pages:

205-208

DOI:

10.4028/www.scientific.net/KEM.486.205

Citation:

O. Baser and E. I. Konukseven, "Kinematic Calibration of PHANTOM Premium 1.5/6DOF Haptic Device", Key Engineering Materials, Vol. 486, pp. 205-208, 2011

Online since:

July 2011

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.