Abstract
This paper presents modeling and experimental studies of a new type of haptic device which combines the spherical parallel and the serial configurations. The paper presents an overview of our design and then outlines the procedure for mapping the force/moment vector acting on the stylus coordinate frame of the device to its joint torque. The paper then demonstrates the experimental studies of the new haptic device. Results demonstrates the performance of the kinematic mapping of the device and compares the computed haptic force feedback with the measured force/moment data at the stylus of the device. Interaction with a test-based virtual environment further demonstrates the actual performance of the device.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Diolaiti, N., Niemeyer, G., Barbagli, F., Kenneth Salisbury Jr., J.: Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects. IEEE Transactions on Robotics 22(2) (2006)
Adams, R.J., Hannaford, B.: Stable Haptic Interaction with Virtual Environments. IEEE Transactions on Robotics and Automation 15(3) (1999)
Hannaford, B., Ryu, J.: Time-Domain Passivity Control of Haptic Interfaces. IEEE Transactions on Robotics and Automation 18(1) (2002)
SensAble Technologies Inc., Specifications for PHANTOM Premium 3.0/6 DOF Haptic Interface (January 6, 2006), http://www.sensable.com/haptic-phantom-premium-6dof.htm (accessed: January 26, 2010)
MPB Technologies Inc, http://www.mpb-technologies.ca/ (accessed: January 26, 2010)
Force Dimension, http://www.forcedimension.com/products (accessed: Januaruy 26, 2010)
Lee, S.S., Lee, J.M.: Design of a general purpose 6-DOF haptic interface. Mechatronics 13, 697–722 (2003)
Carbone, G., Ceccarelli, M.: A serial-parallel robotic architecture for surgical tasks. Robotica 23, 345–354 (2005)
Tang, Z., Payandeh, S.: Design and modeling of a novel 6 degree of freedom haptic device, whc. In: World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 523–528 (2009)
Tang, Z., Payandeh, S.: Kinematic Modeling and Solution of a Class of Hybrid Spherical/Serial Manipulator, Technical report, Experimental Robotics Lab, Simon Fraser University (2009), http://www.sfu.ca/~zta3/papers.html
Craig, J.J.: Introduction to robotics mechanics and control, 3rd edn. Pearson Prentice Hall, Upper Saddle River (2005)
Birglen, L., Gosselin, C.M.: SHaDe, A New 3-DOF Haptic Device. IEEE Transactions on Robotics and Automation 18(2) (2002)
Payandeh, S., Dill, J., Zhang, J.: A Study of Level-of-Detail in Haptic Rendering. ACM transaction for Applied Perception 2(1), 15–34 (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Tang, Z., Payandeh, S. (2010). Modeling and Experimental Studies of a Novel 6-DOF Haptic Device. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6191. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14064-8_11
Download citation
DOI: https://doi.org/10.1007/978-3-642-14064-8_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14063-1
Online ISBN: 978-3-642-14064-8
eBook Packages: Computer ScienceComputer Science (R0)