The position and differential kinematics, for a haptic device, represent the mathematical model that describes the behavior and evolution of its spatial geometry. Contributions in a Human-Robot Physical Interaction system, are: i) operational cartesian motion planning and verification of performance on tasks of passive haptic guidance, ii) torque / force relationship through the analytical Jacobian matrix with purposes in active haptic exploration, iii) the kinematic manipulability analysis in real-time and re-planning paths. In this paper obtaining the position and differential kinematics as well as simulation and experimental validations, for a CyberForce haptic device in its position kinematics chain.
CyberForce Haptic Device: Kinematics and Manipulability
2015-11-01
1007090 byte
Conference paper
Electronic Resource
English
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