Control system design of A 4-DOF redundant haptic interface

In this work the steps made to date for the development of a 4 DOF redundant haptic interface are shown, with particular attention to the control system. After a brief presentation of the main characteristics of the device, of the kinematic structure of the mechanism and of the different methods used for the resolution of the inverse kinematics, the control problem is shown, together with experimental results obtained from several simulations. For simplicity reasons, all the simulations were done considering the device as a parallel kinematic manipulator.