Application of haptic omni device to determination of the set point trajectory

Haptic device might be used to determination motion trajectory, which can be used in virtual environment or to control other devices with similar kinematics. This task is very often realized in the area, where human appearance is forbidden, or when operator is located at a large distance from it. To facilitate a work of the controlling person, as the terminal of the device may be installed a tool, with which controlled operation will be performed. Generation a resistance force in the haptic device as a feedback allows to create conditions, which are similar to those in the actual performing of operations e.g. feeling a reaction force during contact with the object, touch etc. In this article the structure and kinematics of the haptic Phantom Omni device are presented. Device is communicated with the software created for this purpose. It may be used to determine trajectory of the manipulator motion. In this article the kinematics scheme of the haptic device and equations allowing calculations of the coordinates of the tip mounted tool and its angle in the global coordinate system are placed. Calculations are performed basing on the values of the angles between the arms of the device and coordinates of the haptic interface point. In experiments, setpoint trajectory of the tool tip was measured and compared with the reference trajectory on the plane and in the space. Tracking trajectory errors were calculated.