Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device
Bibliographic record
Abstract
The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor. 1 An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.001 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".