The Maxima Haptics Package - a tool for symbolic analysis of haptics and teleoperation

The Maxima Haptics Package is a free software package for symbolic analysis of linear models of haptic devices and teleoperators. From a mechanical model of the haptic device, the slave robot and a formulation of the controller, the package calculates the well known "hybrid matrix" representation of the whole system. From the acquired hybrid matrix, the linear performance measures and external device characteristics can be calculated, e.g. force bandwidth and free air inertia. The package provides a common language for the haptic community for exchange of symbolic models, and tools to enhance understanding and learning. The Maxima Haptics Package is released to the public for the first time ever during the WorldHaptics Conference 2005.