Carlos Cruz-Valverde, O. Dominguez-Ramirez, Edgar R. Ponce-de-Leon-Sanchez, Itzel Trejo-Mota, G. Sepúlveda-Cervantes
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Kinematic and Dynamic Modeling of the PHANToM Premium 1.0 Haptic Device: Experimental Validation
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).
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