Abstract:
The Geomagic Touch X haptic device made by SensAble Technologies has been widely used for various applications, e.g., video games, medical training, and telerobot operati...Show MoreMetadata
Abstract:
The Geomagic Touch X haptic device made by SensAble Technologies has been widely used for various applications, e.g., video games, medical training, and telerobot operation. It provides feedback forces and thus greatly enhances their telepresence user experience together with virtual reality techniques. Motion commands sent from Touch X to a remote device are used for position control in teleoperation. Therefore, an accurate kinematic model of Touch X device is essential for precise motion control. In this paper, the Denavit-Hartenberg (DH) convention is first applied to construct a kinematics model with parameters to be identified. To facilitate online control, an adaptive finite time (FT) estimation algorithm is adopted to identify the unknown kinematic parameters, and it guarantees that accurate values of the DH parameters are obtained with a finite time convergence rate. Meanwhile, a purposely designed coordinate transformation is applied to match the coordinate of kinematics model and Touch X device. Hardware-in-loop simulation studies have been performed to compare the real end-effector's position and data calculated from our proposed model. The comparison results have demonstrated the effectiveness of the adaptive estimation developed in this paper.
Date of Conference: 06-10 June 2016
Date Added to IEEE Xplore: 15 December 2016
ISBN Information: