Related Manuals for Force Dimension omega haptic device Series
Summary of Contents for Force Dimension omega haptic device Series
- Page 1 USER MANUAL omega.x haptic device version 1.9 Force Dimension Switzerland www.forcedimension.com...
- Page 3 The purpose of this document is > to describe the setup of the omega.x haptic device > to describe the installation of the software drivers and the Force Dimension SDK > to describe the operation modes of the omega.x haptic device glossary refers to the Software Development Kit (SDK) for all Force Dimension products.
-
Page 5: Table Of Contents
table of contents system overview important safety instructions setting up the omega.x haptic device unpacking the device installing the power supply configuring the omega.x under Windows installation description installing the drivers configuring the omega.x under Linux installing the software installation description installing the drivers configuring the omega.x under macOS installing the software... -
Page 7: System Overview
1. system overview figure 1 – overview of the omega.3 haptic device base plate status LED control unit force LED front arms user button end-effector power switch force button power connector calibration pole USB connector calibration pit... -
Page 8: Important Safety Instructions
2. 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 9: Setting Up The Omega.x Haptic Device
3. setting up the omega.x haptic device This section describes the different steps to follow to safely setup your omega.x haptic device before use. IMPORTANT PLEASE KEEP THE ORIGINAL PACKAGING ONLY USE THE ORIGINAL PACKAGING DURING STORING OR SHIPPING 3.1 unpacking the device Before unpacking the omega.x haptic device, remove the haptic device foam stabilizer and the accessories foam section located inside the shipping box. -
Page 10: Installing The Power Supply
Plug the power supply into the power connector. For safety purposes you should only operate your omega.x haptic device using the original Force Dimension power supply that came with your hap- tic device controller. Replacement power supplies can be ordered directly from Force Dimension. -
Page 11: Configuring The Omega.x 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. 4.2 installing the drivers USB drivers The omega.x requires the Force Dimension USB driver. -
Page 12: Configuring The Omega.x Under Linux
5. configuring the omega.x under Linux 5.1 installing the software The Force Dimension development folder must be installed onto your system before the omega.x 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 13: Configuring The Omega.x 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 14: Operating The Omega
7. operating the omega.x 7.1 coordinate system base translation The position of the center of the end-effector (handle) is expressed in Cartesian coordinate and in IUS (metric) unit. Figure 5 illustrates the coordinate system. 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. - Page 15 wrist orientation The omega.6 and omega.7 haptic devices incorporate a rotational wrist. The orientation of the wrist is expressed by a reference frame R which is numerically represented using a 3x3 rotation wrist matrix. This reference frame is expressed in relation to the world coordinate system described in figure 5 and is computed from the angle values returned by the joint sensors mounted of each revolute axis of the wrist.
-
Page 16: Operating Modes
Alternatively, an automatic calibration procedure of the omega.x active axes can be performed by software using the Force Dimension SDK, for example by launching the application HapticInit which automatically drives the device throughout its workspace. Please do not touch the device during this automatic calibration procedure. - Page 17 Forces can be enabled or disabled at any time by pressing the force button. brakes The device features electromagnetic brakes that can be enabled through the Force Dimension SDK. These brakes are enabled by default every time the forces are disabled. When the brakes are engaged, a viscous force is created that prevents rapid movement of the end-effector.
-
Page 18: 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 19: 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 20 torus example The torus example displays an OpenGL scene with haptic feedback. figure 10 – 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...
-
Page 21: Technical Information - Omega.3
8. technical information - omega.3 omega.3 workspace ∅ 160 mm x L 110mm translation forces continuous 12.0 N resolution linear < 0.01 mm dimensions height 270 mm width 300 mm depth 350 mm electronics interface standard USB 2.0 rate up to 4.0 KHz power universal 100V - 240V... -
Page 23: Technical Information - Omega.6
9. technical information - omega.6 omega.6 workspace ∅ 160 mm x L 110mm translation rotation 240 x 140 x 320 deg forces continuous 12.0 N resolution linear < 0.01 mm angular 0.09 deg dimensions height 270 mm width 300 mm depth 350 mm electronics... -
Page 25: Technical Information - Omega.7
technical information - omega.7 omega.7 workspace ∅ 160 mm x L 110mm translation rotation 240 x 140 x 180 deg gripper 25 mm forces continuous 12.0 N grasping ± 8 N resolution linear < 0.01 mm angular 0.09 deg linear 0.006 mm dimensions height... - 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.
Need help?
Do you have a question about the omega haptic device Series and is the answer not in the manual?
Questions and answers