Kinematic and Dynamic Modeling of the PHANToM Premium 1.0 Haptic Device: Experimental Validation

This article presents the experimental verification of kinematic and dynamic models of the PHANToM Premium 1.0 haptic device. Dynamic properties are evaluated, in order to apply nonlinear control techniques and evaluation of manipulability and energy in real-time. Position kinematics and differential kinematics are validated for the trajectory planning by using joint control techniques for local haptic guidance and kinematics and dynamics operated control methods for virtual man-machine interaction (haptic interface).