Kinematic modeling and position control of 3 DOF haptic device

This research focuses on robotic manipulator control methods and kinematic analysis solutions through an evaluation of the Omni haptic device. Haptic devices generate touch sensations through the conversion of kinematic interactions to establish better communication between humans and machines. The analysis studies forward and inverse kinematics algorithms because these algorithms identify how end-effector space relates to joint variable locations. Both the forward kinematics model operates with Denavit-Hartenberg methodology and the inverse kinematics model achieves simplified joint variable computations. Precise motion tracking and force feedback operation runs through the 3-degree-of-freedom (3-DOF) kinesthetic interface of the Omni device through its sensor and actuator setup. Researchers use this technology to build teleoperation systems and virtual reality programs and medical training programs. Studies on kinematics verify both the capabilities and practical application possibilities of this device within engineering procedures. Joint system control utilizes PD and PID controllers to generate performance improvements. The PD controller system reduces initial error events but the PID controller system uses accumulated correction to handle ongoing errors. The results of experimental testing proved that the Omni device works consistently and produces smooth movements and tracks trajectories accurately according to practical demands.