High-efficient inverse dynamic calculation approach for a haptic device with pantograph parallel platform (Q1024009): Difference between revisions

The authors present a new procedure for determining the inverse kinematics of a pantograph haptic device -- a fundamental robotic articulation component. Using Kane's equations with the components of the velocity wrench as generalized speeds, they obtain an explicit form for the inverse dynamics equations. The approach is claimed to produce both accurate and efficient computations.