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Kinematic Analysis for the Quanser 5-DOF Haptic Wand
Haptic devices are gaining significance in various fields such as medical applications, handling hazardous materials, and other robotics applications. The incorporation of force feedback is crucial in these systems, requiring a haptic device to enable users to sense the reactive forces between the slave robotic system and its environment. Bilateral control with force feedback is the predominant control strategy for the teleoperation of haptic devices. It is well known that kinematic analysis, including inverse kinematics and the Jacobian matrix, is essential for the control of haptic devices. The contribution of this paper is the kinematic analysis of the 5-ODF Haptic Wand from Quanser Consulting Inc. It presents the derivation of a closed-form solution for both forward and inverse kinematics, along with the Jacobian matrix.
Kinematic Analysis for the Quanser 5-DOF Haptic Wand
Haptic devices are gaining significance in various fields such as medical applications, handling hazardous materials, and other robotics applications. The incorporation of force feedback is crucial in these systems, requiring a haptic device to enable users to sense the reactive forces between the slave robotic system and its environment. Bilateral control with force feedback is the predominant control strategy for the teleoperation of haptic devices. It is well known that kinematic analysis, including inverse kinematics and the Jacobian matrix, is essential for the control of haptic devices. The contribution of this paper is the kinematic analysis of the 5-ODF Haptic Wand from Quanser Consulting Inc. It presents the derivation of a closed-form solution for both forward and inverse kinematics, along with the Jacobian matrix.
Kinematic Analysis for the Quanser 5-DOF Haptic Wand
Ahmad, Saleh (author) / Khan, Najeeb U. (author)
2024-06-03
842705 byte
Conference paper
Electronic Resource
English
| UB Braunschweig | 1980
| European Patent Office | 2023