Title :
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
fDate :
Sept. 28 2010-Oct. 1 2010
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;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010
Conference_Location :
Morelos
Print_ISBN :
978-1-4244-8149-1
DOI :
10.1109/CERMA.2010.119
