Kinematic calibration of a 7 DoF hapic device

Abstract

Precise positioning and precise force control requirement in haptic devices necessitate the kinematic calibration of the device. Since force control algorithms in haptic interfaces employ Jacobian matrix which includes kinematic model parameters, kinematic calibration is not only important for pose accuracy but also for force control. The deviation of… (More)
DOI: 10.1109/ICAR.2011.6088581

Topics

10 Figures and Tables