Kinematics and Dynamics of a novel 6-DoF TAU Haptic Device
2011 (English)In: Proceedings of the 2011 IEEE International Conference on MechatronicsInternational Conference on Mechatronics, April 13-15, 2011, Istanbul, Turkey, IEEE conference proceedings, 2011, 719-724 p.Conference paper (Refereed)
This paper presents the kinematics and dynamics modeling of a novel hybrid kinematic concept, i.e. the TAU haptic device. This new concept was obtained from the modification of TAU-2 structure proposed by Khan et al. First a kinematic model for inverse and forward kinematics was developed and analyzed. Then an algorithm to solve the close form inverse dynamics is presented using Lagrangian formulation. Numerical simulation was carried out to examine the validity of the approach and accuracy of the technique employed. A trigonometric helical trajectory of 5th order spline was developed in Cartesian space for each degree of freedom of the moving platform in order to verify and simulate the inverse dynamics; the motion of the platform is such that the tool centre point remains on this trajectory while its orientation is changing constantly in roll, pitch and yaw.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2011. 719-724 p.
Haptic device, Human robot interface, Mathematical Modelling, Simulation, TAU Configuration
Other Mechanical Engineering
IdentifiersURN: urn:nbn:se:kth:diva-87187DOI: 10.1109/ICMECH.2011.5971209ScopusID: 2-s2.0-80052168011ISBN: 978-1-61284-982-9OAI: oai:DiVA.org:kth-87187DiVA: diva2:501494
ICM 2011 International Conference on Mechatronics, April 13-15, 2011, Istanbul, Turkey
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