A study of the Manipulability of the PHANToM OMNI Haptic Interface

Abstract

In order to perform the assembly of a haptic device in the set of a simulator, we have to check that it operates in its optimal workspace. In general it will depend on the required functionality. One of the characteristics that define the performance of a haptic device is the manipulability. In this paper we are going to accomplish a kinematics study of the device PHANToM OMNi. This study will produce as result the calculation of a map, in which to each of the points of the workspace, we assign a value of manipulability. In this way it is obtained a drawing that identifies the best zones of functioning of the device and therefore those in which we wish that our manipulator preferably works as a design criteria.