Kinematics and Dynamics of a Master Maipulator
- Yechu Hu
Abstract
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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- DOI:10.5539/mas.v3n3p155
This work is licensed under a Creative Commons Attribution 4.0 License.
- ISSN(Print): 1913-1844
- ISSN(Online): 1913-1852
- Started: 2007
- Frequency: semiannual
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