A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye

Abstract

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for… (More)

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Cite this paper

@article{Chablat2007ASD, title={A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye}, author={Damien Chablat and Philippe Wenger}, journal={CoRR}, year={2007}, volume={abs/0707.3550} }