Analysis and modeling of haptic interface with two DOFs

This paper presents the process of analysis and modeling of a haptic interface with two degrees of freedom (DOFs). The development of the CAD model, which served as the basis for implementation of the kinematics of the mechanism, as well as for the definition of the DH (Denavit-Hartenberg) parameters of the system, is also presented. This is how the base for rapid development of algorithms for position and force control of mechanisms are established and these will be used to control complex systems dedicated to medical intervention support.