Design and Simulation Analysis of Haptic Device With Parallel Kinematics

摘要

The paper presents a description of a haptic device design for remote control of robotic systems. The device includes actuators with torque motors utilized in force feedback for a human operator. Partial mechanical compensation of gravity torques is employed to facilitate the actuation, reduce the motors size and consumption. The kinematic workspace and accuracy map of the device is calculated using Monte Carlo simulation to verify the achievement of the design objectives. As a main output signals position/orientation, velocity and accelerations are chosen as the most applicable for general motion specification. An advanced method utilizing Kalman filter approach for estimation of velocity and acceleration from positions measurements is presented along with simulation results.