Teleoperation with inverse dynamics control for PHANToM Omni haptic device

Abstract

In this paper, a teleoperation system using inverse dynamic control is implemented with two PHANToM Omni haptic devices connected in a master-slave configuration. The inverse dynamic control is designed to linearize the nonlinear system and achieve motion tracking between the two devices. This paper provides the kinematic model and dynamic equation of PHANToM Omni haptic device used for constructing the inverse dynamic controller. Experimental results demonstrate the improved trajectory tracking performance of the teleoperated system with an inverse dynamic controller when compared with a conventional PID controller.