Using Phantom Omni Haptik Device
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[[Tutorial]]
#contents
** Background [#q683cf2d]
Haptic feedback has been used in human robot interaction ...
In this tutorial, we shall simulate the feedback generate...
-------
This tutorial is based on the work done by Mickael Nicola...
If you have any questions after reading this page: Please...
-------
** Introduction [#wf2cb185]
The Phantom Omni device is used for this work. According ...
"Each Geomagic haptic device accurately measures the 3D s...
This device allows accurate capture of the movement and i...
*** The Haptic device: phantom Omni [#m3804746]
The Phantom has 6 joints (see figure 1 and 2), with each ...
#ref(./haptick1.jpg,100%)
Figure1: Phantom Omni, where the pen shape tools is plugg...
#ref(./hapticl2.png,100%)
Figure2: Inclination joints of Phantom Omni. Joints 4 to ...
** Requirements [#ad223c72]
*** Selection of PC [#vae303b9]
-A fast machine is needed for the rendering and computati...
-I was using the follow specifications:
WRITE DOWN SPECS
*** 1394 interface. [#ef7886c1]
IEEE 1394 called Firewire is a high speed I/O (made by Ap...
*** Installing of a Development Environment [#n25151cc]
VC++ 2008 and 2010, both can be used. Please download app...
*** Download: (PHANTOM Device Drivers PDD) driver and lib...
- Registration
--To download the Phantom Device Drivers and OpenHaptic ...
--Please go to this [[page>http://dsc.sensable.com/index....
--This process requires you to input the Serial Number of...
- Installation
--The curren version is 3.2.2. But for the current develo...
--Please install the Academic Edition software and PHANTO...
** Development of interaction of objects using Phantom Om...
*** Usage of OpenHaptic Micro API [#vc9f6af8]
#ref(./openhaptic.png,100%)
Figure 3: The levels of abstraction of the OpenHaptic Mic...
OpenHaptic is divided into several layers. For this proje...
***Scheme of SIGService for Phantom Omni [#ka330538]
#ref(./scheme.png,100%)
Figure 4: The Scheme of the communication between the pha...
The service works as a bridge between SIGViewer and the P...
merging the SIGService framework and the OpenHaptic API.
***Role of SIGService for Phantom Omni [#a6a6f198]
SIGService enables communication with a controller using ...
The role of the service is to capture movement, the incli...
The structure of the data consists of 3 floats for the po...
When a collision or the end of a collision is detected, t...
***Haptic environment simulation sample experiment. [#b08...
-The knife is controlled by the the pen-shaped tool of th...
-The apple, bowl with liquid, a joystick pad, can, organg...
-The apple is squishy and simulates the cutting of a frui...
-The table has a hard spring effect that allows for model...
-The bowl has the liquid that is used to create a viscous...
-The black joystick pad creates a large boost force.
-The orange creates a bumper effect.
#ref(./hapticSample.PNG,50%);
*** Installation of SIGServer [#mad80522]
You are required to add few files inside your SIGServer s...
***SIGService Source code for the haptic device[#l18576d7]
#ref(./omni.gif);
$git clone [[git@socio4.iir.nii.ac.jp:~/SigverseGitServer...
***SIGController Source code and world file for sample ex...
|#ref(HapticCollisionpic1.PNG,,20%); |#ref(HapticCollisio...
$ git clone [[git@socio4.iir.nii.ac.jp:~/SigverseGitServe...
#highlight(end)
#counter
End:
[[Tutorial]]
#contents
** Background [#q683cf2d]
Haptic feedback has been used in human robot interaction ...
In this tutorial, we shall simulate the feedback generate...
-------
This tutorial is based on the work done by Mickael Nicola...
If you have any questions after reading this page: Please...
-------
** Introduction [#wf2cb185]
The Phantom Omni device is used for this work. According ...
"Each Geomagic haptic device accurately measures the 3D s...
This device allows accurate capture of the movement and i...
*** The Haptic device: phantom Omni [#m3804746]
The Phantom has 6 joints (see figure 1 and 2), with each ...
#ref(./haptick1.jpg,100%)
Figure1: Phantom Omni, where the pen shape tools is plugg...
#ref(./hapticl2.png,100%)
Figure2: Inclination joints of Phantom Omni. Joints 4 to ...
** Requirements [#ad223c72]
*** Selection of PC [#vae303b9]
-A fast machine is needed for the rendering and computati...
-I was using the follow specifications:
WRITE DOWN SPECS
*** 1394 interface. [#ef7886c1]
IEEE 1394 called Firewire is a high speed I/O (made by Ap...
*** Installing of a Development Environment [#n25151cc]
VC++ 2008 and 2010, both can be used. Please download app...
*** Download: (PHANTOM Device Drivers PDD) driver and lib...
- Registration
--To download the Phantom Device Drivers and OpenHaptic ...
--Please go to this [[page>http://dsc.sensable.com/index....
--This process requires you to input the Serial Number of...
- Installation
--The curren version is 3.2.2. But for the current develo...
--Please install the Academic Edition software and PHANTO...
** Development of interaction of objects using Phantom Om...
*** Usage of OpenHaptic Micro API [#vc9f6af8]
#ref(./openhaptic.png,100%)
Figure 3: The levels of abstraction of the OpenHaptic Mic...
OpenHaptic is divided into several layers. For this proje...
***Scheme of SIGService for Phantom Omni [#ka330538]
#ref(./scheme.png,100%)
Figure 4: The Scheme of the communication between the pha...
The service works as a bridge between SIGViewer and the P...
merging the SIGService framework and the OpenHaptic API.
***Role of SIGService for Phantom Omni [#a6a6f198]
SIGService enables communication with a controller using ...
The role of the service is to capture movement, the incli...
The structure of the data consists of 3 floats for the po...
When a collision or the end of a collision is detected, t...
***Haptic environment simulation sample experiment. [#b08...
-The knife is controlled by the the pen-shaped tool of th...
-The apple, bowl with liquid, a joystick pad, can, organg...
-The apple is squishy and simulates the cutting of a frui...
-The table has a hard spring effect that allows for model...
-The bowl has the liquid that is used to create a viscous...
-The black joystick pad creates a large boost force.
-The orange creates a bumper effect.
#ref(./hapticSample.PNG,50%);
*** Installation of SIGServer [#mad80522]
You are required to add few files inside your SIGServer s...
***SIGService Source code for the haptic device[#l18576d7]
#ref(./omni.gif);
$git clone [[git@socio4.iir.nii.ac.jp:~/SigverseGitServer...
***SIGController Source code and world file for sample ex...
|#ref(HapticCollisionpic1.PNG,,20%); |#ref(HapticCollisio...
$ git clone [[git@socio4.iir.nii.ac.jp:~/SigverseGitServe...
#highlight(end)
#counter
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