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Summary of Contents for Force Dimension lambda.7 haptic device
- Page 1 USER MANUAL lambda.7 haptic device version 1.0 Force Dimension Switzerland www.forcedimension.com...
- Page 3 The purpose of this document is: > to describe the setup of the lambda.7 haptic device, > to describe the installation of the software drivers and the Force Dimension SDK, > to describe the basic operation modes of the lambda.7 haptic device.
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Page 5: Table Of Contents
System overview Important safety instructions Setting up the lambda.7 haptic device Haptic device installation Installing the power supply Connecting the lambda.7 haptic device to your computer Software installation Configuring the lambda.7 under Windows Installing the software Installation description Installing the drivers Configuring the lambda.7 under Linux... -
Page 6: System Overview
System overview Figure 1 – Overview of the lambda.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. -
Page 8: Setting Up The Lambda.7 Haptic Device
ONLY USE THE ORIGINAL PACKAGING DURING STORAGE OR SHIPMENT 3.1 Haptic device installation The lambda.7 haptic device is shipped in three cardboard boxes. Please start by opening the larger of the three boxes which contains the lambda.7 haptic device controller and accessories, as illustrated in figure 2. - Page 9 The lambda.7 support stand is composed of three legs and one mast which are illustrated in fig- ures 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 layer with the accessories may be lifted out of the box, thereby revealing the lambda.7 haptic device controller, as shown in figure 6. haptic device controller Figure 6 – Shipping box containing the lambda.7 device after removal of the upper foam layer.
- Page 11 Figure 9 – Aligning the pole interface with the contact points of the lambda.7 haptic device. Securely fasten the tightening screw by using the red hex key, as illustrated in figure 10. red hex key tightening...
- Page 12 Figure 12 – Fastening the clamping screw while holding the device with the opposite hand. Your lambda.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.
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Page 13: Installing The Power Supply
Figure 13 – Connection and tightening of the power connector. 3.3 Connecting the lambda.7 haptic device to your computer Connect the lambda.7 haptic device to your computer using the USB cable which is included in the box. 3.4 Software installation A USB flash drive, located with the accessories, includes the drivers and SDK installation media for the different operating systems. -
Page 14: Configuring The Lambda.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 (see subfolder\doc). 4.3 Installing the drivers USB drivers The lambda.7 requires the Force Dimension USB driver. -
Page 15: Configuring The Lambda.7 Under Linux
Configuring the lambda.7 under Linux 5.1 Installing the software The Force Dimension development folder must be installed onto your system before the lambda.7 can be used. To do this, perform the following steps: Plug the Force Dimension USB flash drive into your Linux computer. -
Page 16: Configuring The Lambda.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 (see subfolder\doc). 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 17: Operating The Lambda.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 14 – Cartesian coordinate system of the lambda.7 haptic device... - Page 18 The orientation of the lambda.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 14.
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Page 19: 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 20: 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 21: 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 22 torus example The torus example displays an OpenGL scene with haptic feedback. Figure 18 – 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 23: Technical Information
Technical information lambda.7 240 mm x L 170 mm workspace translation rotation 180 (yaw) x 140 (pitch) x 290 (roll) deg gripper 15 deg forces translation 20.0 N rotation 200 (yaw), 400 (pitch), 100 (roll) mNm gripper ± 8.0 N resolution translation 0.0015 mm... - Page 24 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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