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A new 6-DOF parallel haptic device is developed and presented in this paper. The haptic device consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low inertia, quick motion, large orientation angles, and large applied torques. Kinematics for position and differential motion is analyzed for the 6-DOF haptic device. Static force relation between the user force and motor torque is also analyzed and implemented on the controller. The control system for the teleoperation of 6-DOF serial robot is developed. The closed loop impedance force control system is analyzed and realized on the digital controller. Tele-operation of a 6-DOF serial robot using this haptic device is demonstrated. Experiments show that dynamic forces caused by the haptic device are well compensated with the closed loop force control.
Instrumentation and Measurement, IEEE Transactions on (Volume:60 , Issue: 11 )
Date of Publication: Nov. 2011