Parameter Identification for the Geomagic Touch Haptic Device

https://doi.org/10.58571/CNCA.AMCA.2022.003

Resumen: Haptic devices have become increasingly popular and have been part of different areas of research, such as medicine, teleoperation, 3D modeling, just to mention a few. However, given the demands required in some fields, such as automatic control, it is essential to know their parameters and model. Different efforts have arisen for this purpose, where parametric estimation and identification is the main purpose for the application of different control algorithms. One of the most widely used haptic devices in different areas is the emph{Geomagic Touch} from 3D company . This device has been used especially in haptic applications where kinematic and dynamic models are required. However, only a few contributions have taken into account the parametric identification of this device. The main contribution of this work is the identification of the parameters of the emph{Geomagic Touch} device where experimental tests were performed for validation by means of two control laws widely used in the literature.

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Guajardo Benavides, E., & Arteaga, M. Parameter Identification for the Geomagic Touch Haptic Device. Memorias del Congreso Nacional de Control Automático, pp. 121-126, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.003

Palabras clave

Modelado e Identificación de Sistemas; Robótica y Mecatrónica; Control de Sistemas No Lineales

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