Kinematic and dynamic modeling of the PHANToM premium 1.0 haptic device: Experimental validation

Carlos Cruz-Valverde, Omar A. Domínguez-Ramírez, Edgar R. Ponce-De-león-sanchez, Itzel Trejo-Mota, Gabriel Sepulveda-Cervantes

Research output: Contribution to conferencePaper

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Abstract

This article presents the experimental verification of kinematic and dynamic models of the PHANToM Premium 1.0 haptic device [2]. Dynamic properties are evaluated [7], in order to apply nonlinear control techniques and evaluation of manipulability and energy in real-time. Position kinematics and differential kinematics are validated for the trajectory planning by using joint control techniques for local haptic guidance and kinematics and dynamics operated control methods for virtual man-machine interaction (haptic interface). © 2010 IEEE.
Original languageAmerican English
Pages494-501
Number of pages443
DOIs
StatePublished - 1 Dec 2010
Externally publishedYes
EventProceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010 -
Duration: 1 Dec 2010 → …

Conference

ConferenceProceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
Period1/12/10 → …

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Cruz-Valverde, C., Domínguez-Ramírez, O. A., Ponce-De-león-sanchez, E. R., Trejo-Mota, I., & Sepulveda-Cervantes, G. (2010). Kinematic and dynamic modeling of the PHANToM premium 1.0 haptic device: Experimental validation. 494-501. Paper presented at Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010, . https://doi.org/10.1109/CERMA.2010.119