Related Manuals for Force Dimension sigma.7 haptic device
Summary of Contents for Force Dimension sigma.7 haptic device
- Page 1 USER MANUAL sigma.7 haptic device version 1.4 Force Dimension Switzerland www.forcedimension.com...
- Page 3 The purpose of this document is > to describe the setup of the sigma.7 haptic device > to describe the installation of the software drivers and the Force Dimension SDK > to describe the basic operation modes of the sigma.7 haptic device glossary...
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Page 5: Table Of Contents
Windows installing the software installation description installing the drivers configuring the sigma.7 under Linux... -
Page 6: System Overview
1 – overview of the sigma.7 haptic device device stand rear leg end-effector (force gripper handle) device stand front legs pole interface device stand pole power switch haptic device controller power connector arms of translational base USB connector... -
Page 7: Important Safety Instructions
important safety instructions IMPORTANT WHEN USING THIS HAPTIC DEVICE, BASIC SAFETY PRECAUTIONS SHOULD ALWAYS BE FOLLOWED TO REDUCE THE RISK OF FIRE, ELECTRICAL SHOCK, OR PERSONAL INJURY. read and understand all instructions follow all warnings and instructions marked on your haptic device do not use or place your haptic device near water place your haptic device securely on a stable surface make sure that the workspace of your haptic device is free of objects... -
Page 8: Setting Up The Sigma.7 Haptic Device
ONLY USE THE ORIGINAL PACKAGING DURING STORAGE OR SHIPMENT 3.1 haptic device installation The sigma.7 haptic device is shipped in a plastic case and two cardboard boxes. Please start by opening the plastic case which contains the sigma.7 haptic device controller and accessories, as illustrated in figure 2. - Page 9 The sigma.7 support stand is composed of three legs and one mast which are illustrated in figures 3 and 4. These parts can be found in the two cardboard boxes that come with the unit. figure 3 –stand pole (1x) figure 4 –...
- Page 10 Once the device stand is mounted, the upper foam level with the accessories may be lifted out of the box, thereby revealing the sigma.7 haptic device controller, as shown in figure 6. power supply haptic device controller pole interface removable lower foam level figure 6 –...
- Page 11 8 – the sigma.7 haptic device placed back on its lower foam block and outside of its plastic transportation case Insert the pole interface at the rear of haptic device controller by making sure that the groves of the pole interface align with the spherical contact points on the device.
- Page 12 By using the same red hex key, you may now loosen the clamping screw, as illustrated on the left image of figure 11. Finally, mount the sigma.7 device base on its stand pole by sliding it from the top, as shown on the right image of figure 11.
- Page 13 Your sigma.7 haptic device is now fully assembled. You may place the haptic device at your con- sole desk where you will be operating the system. Please note that optimal wrist dexterity is achieved when the forearm of the operator is aligned with the first rotational degree of freedom of the wrist mechanism, as shown in figure 13 (yellow dashed lines).
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Page 14: Installing The Power Supply
14 – connection and tightening of the power connector 3.3 connecting the sigma.7 haptic device to your computer Connect the sigma.7 haptic device to your computer using the USB cable that is included in the upper foam of the plastic transportation case of the haptic device controller. -
Page 15: Configuring The Sigma.7 Under Windows
All hardware user manuals are located in that directory. \lib,\include subfolders These directories contain the files required to compile your application with the Force Dimension SDK. Please refer to the on-line programming manual for more information. 4.3 installing the drivers USB drivers The sigma.7 requires the Force Dimension USB driver. -
Page 16: Configuring The Sigma.7 Under Linux
Linux 5.1 installing the software The Force Dimension development folder must be installed onto your system before the sigma.7 can be used. To do this, perform the following steps: plug the Force Dimension USB flash drive into your Linux computer extract the sdk-<version>.tar.gz archive for your system architecture from the \Linux... -
Page 17: Configuring The Sigma.7 Under Macos
These directories contain the files required to compile your application with the Force Dimension SDK. Please refer to the online programming manual for more information. 6.3 installing the drivers The macOS version of the Force Dimension SDK uses Apple’s native USB drivers. No further instal- lation is required. -
Page 18: Operating The Sigma.7
The actual origin of the coordinate system (0,0,0) is located on a virtual point situated at the cen- ter of the physical workspace of the haptic device. Z-axis Y-axis X-axis figure 15 – Cartesian coordinate system of the sigma.7 haptic device... - Page 19 The orientation of the sigma.7 haptic device is expressed by a reference frame R which is nu- wrist merically represented using a 3x3 rotation matrix. This reference frame is expressed in relation to the world coordinate system described in figure 15.
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Page 20: Operating Modes
ON. The automatic calibration procedure is performed by software using the Force Dimension SDK, for example by launching the application "HapticInit" which automatically drives the device through- out its workspace. -
Page 21: Running The Haptic Desk Program
The Haptic Desk application is available as a test and diagnostic program and offers the following capabilities: > list all Force Dimension haptic devices connected to the system > test the position reading of the haptic device in Cartesian coordinates >... -
Page 22: Running The Demonstrations Programs
7.4 running the demonstrations programs Two demonstration programs can also be used to diagnose the device. The source code and an executable file for each of these demonstration programs are provided in two separate directories named \gravity and \torus. Once the system is setup, we suggest running application gravity to check that everything is working properly and to evaluate your system's performance independently of the graphics ren- dering performance. - Page 23 torus example The torus example displays an OpenGL scene with haptic feedback. figure 19 – torus example note – OpenGL must be installed for your compiler and development environment to compile this example. Please refer to your compiler documentation for more information, or consult http://www.opengl.org...
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Page 25: Technical Information
technical information sigma.7 workspace ∅ 190 mm x L 130 mm translation rotation 235 x 140 x 200 deg grasping 25 mm forces translation 20.0 N rotation 400 mNm grasping ± 8.0 N resolution linear 0.0015 mm rotation 0.013 deg grasping 0.006 mm electronics... - Page 28 The information in this document is provided for reference only. Force Dimension does not assume any lia- bility arising out of the application or use of the information or product described herein. This document may contain or reference information and products protected by copyrights or patents and does not convey any license under the patent rights of Force Dimension, nor the rights of others.
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