Kinematic Calibration of PHANTOM Premium 1.5/6DOF Haptic Device

摘要：

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.

关键词： Haptic device kinematic calibration force control

作者: OzgurBaser E. ilhan Konukseven

作者单位: Department of Mechanical Engineering, Middle East Technical University

会议类型: 国际会议

会议名称: Fourth International Conference on Advanced Design and Manufacturing(第四届先进设计与制造国际会议)

会议地点: 昆明

会议语种:英文

页码: 205-208

在线出版日期: 2011-09-21（万方平台首次上网日期，不代表论文的发表时间）