Haptic device with parallel kinematics

Elena M. Kuznetcova
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Junior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-61-77, ORCID: 0000-0001-8207-9549, This email address is being protected from spambots. You need JavaScript enabled to view it.

Igor Yu. Dalyaev
PhD in Technical Sciences, RTC, Head of Sector, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(911)229-73-01, This email address is being protected from spambots. You need JavaScript enabled to view it.

Eugin A. Smirnov
RTC, Leading Designer, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-60-93, This email address is being protected from spambots. You need JavaScript enabled to view it.

Victor V. Titov
RTC, Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia,
tel.: +7(812) 552-60-93, ORCID: 0000-0003-2817-5841, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexander A. Truts
RTC, Head of Department, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-60-93, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 13 August 2018

Abstract
The paper concerns the problem of motion specification in remote control of robotic manipulators. Haptic devices for manual control are in focus. The description of a newly developed 6 DoF haptic device with parallel kinematics is presented. An advanced method for estimation of velocity and acceleration of haptic position signals is presented.

Key words
Parallel manipulator, Kalman filter, velocity estimation, acceleration estimation.

DOI
https://doi.org/10.31776/RTCJ.6409

Bibliographic description
Kuznetcova, E. and et al. (2018). Haptic device with parallel kinematics. Robotics and Technical Cybernetics, 4(21), pp.68-76.

UDC identifier:
681.518:007.52:62-519:62-514.1

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