Dynamic parameter identification and analysis of a PHANToM haptic device

In this paper, the dynamics of a SensAble Technologies PHANToM Premium 1.5 haptic device is experimentally identified and analyzed. Towards this purpose, the dynamic model derived in the work of M. C. Cavusoglu and D. Feygin (2001) is augmented with a friction model and is linearly parameterized. The identified model predicts joint torques with over 95% accuracy and produces an inertia matrix that is confirmed to be positive-definite within the device workspace. In addition, user hand force estimates with and without including the identified dynamics are compared with the measured values. The experiments are also conducted for other typical installation conditions of the device, such as with force sensor mounted at the end-effector, using gimbal and counterbalance weight, and upside-down installation of the device. The identified dynamic model can be used for hand force estimation, accurate gravity counterbalancing for different installation conditions, and model-based control systems design for haptic simulation and tele-operation applications

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