Kinematic Calibration of PHANTOM Premium 1.5/6DOF Haptic Device

Ozgur Baser; Erhan Ilhan Konukseven

doi:10.4028/www.scientific.net/KEM.486.205

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HomeKey Engineering MaterialsKey Engineering Materials Vol. 486Kinematic Calibration of PHANTOM Premium 1.5/6DOF...

Kinematic Calibration of PHANTOM Premium 1.5/6DOF Haptic Device

Abstract:

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.

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Periodical:

Key Engineering Materials (Volume 486)

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205-208

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.486.205

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Online since:

July 2011

Authors:

Ozgur Baser, Erhan Ilhan Konukseven

Keywords:

Force Control, Haptic Device, Kinematic Calibration

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