Use the link frame attachments for the representation of the Sensable Phantom Series Haptic Device for

developing a graphics model of the device. Then use the device as an input to move the graphic representation of the device. This can be done throught the forward kinematic

solution.



To run the code, users must have a installed phantom haptic device.-Use the link frame attachments for the representation of the Sensable Phantom Series Haptic Device for developing a graphics model of the device. Then use the device as an input to move the graphic representation of the device. This can be done throught the forward kinematic solution. To run the code, users must have a installed phantom haptic device.