TY - GEN
T1 - Kinematic and dynamic modeling of the PHANToM premium 1.0 haptic device
T2 - 2010 7th IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
AU - Cruz-Valverde, Carlos
AU - Domínguez-Ramírez, Omar A.
AU - Ponce-De-león-sanchez, Edgar R.
AU - Trejo-Mota, Itzel
AU - Sepulveda-Cervantes, Gabriel
PY - 2010
Y1 - 2010
N2 - 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).
AB - 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).
UR - http://www.scopus.com/inward/record.url?scp=79951588133&partnerID=8YFLogxK
U2 - 10.1109/CERMA.2010.119
DO - 10.1109/CERMA.2010.119
M3 - Contribución a la conferencia
AN - SCOPUS:79951588133
SN - 9780769542041
T3 - Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
SP - 494
EP - 501
BT - Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
Y2 - 28 September 2010 through 1 October 2010
ER -