Kinematic Calibration of PHANTOM Premium 1.516DOF Haptic Device


Baser O., KONUKSEVEN E. İ.

ADVANCED DESIGN AND MANUFACTURE IV, vol.486, pp.205-208, 2011 (Refereed Journals of Other Institutions) identifier identifier

  • Publication Type: Article / Article
  • Volume: 486
  • Publication Date: 2011
  • Doi Number: 10.4028/www.scientific.net/kem.486.205
  • Title of Journal : ADVANCED DESIGN AND MANUFACTURE IV
  • Page Numbers: pp.205-208

Abstract

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.