Guaranteed convergence rates for five degree of freedom in-parallel haptic interface kinematics

Numerical computation of forward kinematics for an in-parallel interface are developed which conform to the needs of real-time haptic rendering. This approach produces a computationally fast algorithm for computing Cartesian position and orientation from actuator position measurements. Explicit bounds on the convergence rates are derived which can be used to design appropriate computational strategies to maximize control loop cycle times, yet preserve acceptable accuracy