Kinematics and Dynamics of a Master Maipulator

Yechu Hu


I analyze the kinematics and Dynamics of Phantom Premium 1.5 made and sold by SenSable Technologies Inc., which is widely-used as the master manipulator in telerobotic systems. The forward kinematics is studied using Denavit-Hartenberg method, the manipulator Jacobian is also presented. The dynamic equations incorporating frictional effects of Premium 1.5 are derived.

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