Kinematic Calibration of PHANTOM Premium 1.516DOF Haptic Device

Date

2011-01-01

Author

Baser, Ozgur
Konukseven, Erhan İlhan

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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.

Subject Keywords

Haptic device, Kinematic calibration, Force control

URI

https://hdl.handle.net/11511/44806

Journal

ADVANCED DESIGN AND MANUFACTURE IV

DOI

https://doi.org/10.4028/www.scientific.net/kem.486.205

Collections

Department of Mechanical Engineering, Article

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Citation Formats

O. Baser and E. İ. Konukseven, “Kinematic Calibration of PHANTOM Premium 1.516DOF Haptic Device,” ADVANCED DESIGN AND MANUFACTURE IV, pp. 205–208, 2011, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/44806.