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Force Dimension omega haptic device Series, User Manual

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Force Dimension omega haptic device Series User Manual Download Page 23

23 

 

9.

 

technical information - omega.6 

 

omega.6 

 
workspace

 

translation 

∅

 160 mm x L 110mm 

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 

 

interface

 

standard 

USB 2.0 

 

rate 

up to 4.0 KHz 

 

power

 

universal 

100V - 240V 

 
 

software 

 

platforms

 

Microsoft 

Windows 

 

Linux 

all distributions 

 

Apple 

macOS 

 

Blackberry 

QNX 

 

WindRiver 

VxWorks 

 

libraries

 

Haptics SDK 

 

Robotics SDK   

 

 
 

features 

 

ergonomics

 

available in left- and right-hand configuration 

 

structure

 

delta-based parallel kinematics 

 

hand-centered rotation movements 

 

decoupling between translation and rotation movements 

 

active gravity compensation 

 

calibration

 

automatic 

 

driftless 

 

user input

 

1 user button 

 

safety

 

velocity monitoring 

 

electromagnetic damping 

 
 

 

Summary of Contents for omega haptic device Series

Page 1: ...USER MANUAL omega x haptic device version 1 9 Force Dimension Switzerland www forcedimension com ...

Page 2: ...2 ...

Page 3: ...he Force Dimension SDK to describe the operation modes of the omega x haptic device glossary SDK refers to the Software Development Kit SDK for all Force Dimension products omega x refers to the base haptic device shared by the omega 3 omega 6 and omega 7 hap tic devices Unless specified all instructions in this manual apply to all three device types ...

Page 4: ...4 ...

Page 5: ... x under Linux 12 5 1 installing the software 12 5 2 installation description 12 5 3 installing the drivers 12 6 configuring the omega x under macOS 13 6 1 installing the software 13 6 2 installation description 13 6 3 installing the drivers 13 7 operating the omega x 14 7 1 coordinate system 14 7 2 operating modes 16 7 3 running the Haptic Desk program 18 7 4 running the demonstrations programs 1...

Page 6: ...6 ...

Page 7: ...a 3 haptic device 1 base plate 2 control unit 3 front arms 4 end effector 5 force button 6 calibration pole 7 calibration pit 8 status LED 9 force LED 10 user button 11 power switch 12 power connector 13 USB connector 2 3 1 5 9 8 2 1 11 12 13 10 6 4 7 ...

Page 8: ...ructions marked on your haptic device 3 do not use or place your haptic device near water 4 place your haptic device securely on a stable surface 5 make sure that the workspace of your haptic device is free of objects 6 do not overload wall outlets and extension cords as this can result in a risk of fire or electri cal shock 7 switch off your haptic device when it is not in use 8 to reduce the ris...

Page 9: ...SE 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 figure 2 view when opening the shipping box haptic device foam stabilizer haptic device accessories ...

Page 10: ... USB cables as well as the USB flash drive figure 4 omega x accessories 3 2 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 end effector...

Page 11: ...es required to run the omega x software The required DLL files are also copied to the Windows system folder during the installation drivers subfolder This directory contains the USB drivers required to operate your haptic device examples subfolder This directory contains the demonstration programs Example applications described in section 7 4 and come with their full source code doc subfolder All ...

Page 12: ...s directory contains the demonstration executables and the binary files required to run the omega x software examples subfolder This directory contains the demonstration programs Example applications described in section 7 4 and come with their full source code doc subfolder All documentation files and notices are located in this subfolder manuals subfolder All hardware user manuals are located in...

Page 13: ... following directories bin subfolder This directory contains the demonstration executables and the binary files required to run the omega x software examples subfolder This directory contains the demonstration programs Example applications described in section 7 4 and come with their full source code doc subfolder All documentation files and notices are located in this subfolder manuals subfolder ...

Page 14: ...sed 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 figure 5 Cartesian coordinate system of the omega x haptic device X axis Y axis Z axis ...

Page 15: ...nt sensors mounted of each revolute axis of the wrist figure 6 reference frame of the wrist omega 6 and omega 7 haptic devices gripper angle The angular position of the force gripper is returned in either degrees or radian A positive angle value is returned for right hand omega 7 haptic devices A negative angle value is returned for left hand haptic devices Angular values closer to zero correspond...

Page 16: ...on pole in the dedicated calibration pit The device detects when the calibration position is reached and the status LED stops flashing Figure 7 illustrates the calibration procedure After the initial calibration described above the LED will stop flashing omega 3 figure 7 calibration procedure On the omega 6 and omega 7 the status LED will blink at a slower frequency indicating that the wrist is us...

Page 17: ...every time the forces are disabled When the brakes are engaged a viscous force is created that prevents rapid movement of the end effector safety features The omega x features several safety features designed to prevent uncontrolled application of forces and possible damage to the device These safety features can be adjusted or disabled via a protected command in the Force Dimension SDK IMPORTANT ...

Page 18: ...tic devices connected to the system test the position reading of the haptic device in Cartesian coordinates test all force and torque capabilities of the haptic device run the auto calibration procedure read the haptic device status read the haptic device encoder sensors individually read the haptic device user button if available figure 8 Haptic Desk test and diagnostic program ...

Page 19: ...ing is working properly and to evaluate your system s performance independently of the graphics ren dering performance Application torus will allow you to test the combined performance of hap tics and graphics rendering gravity example This example program runs a best effort haptic loop to compensate for gravity The appropriate forces are applied at any point in space to balance the device end eff...

Page 20: ...enGL 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: ...p to 4 0 KHz power universal 100V 240V software platforms Microsoft Windows Linux all distributions Apple macOS Blackberry QNX WindRiver VxWorks libraries Haptics SDK Robotics SDK features ergonomics the device can be used with both left and right hands structure delta based parallel kinematics active gravity compensation calibration automatic driftless user input 1 user button safety velocity mon...

Page 22: ...22 ...

Page 23: ...r universal 100V 240V software platforms Microsoft Windows Linux all distributions Apple macOS Blackberry QNX WindRiver VxWorks libraries Haptics SDK Robotics SDK features ergonomics available in left and right hand configuration structure delta based parallel kinematics hand centered rotation movements decoupling between translation and rotation movements active gravity compensation calibration a...

Page 24: ...24 ...

Page 25: ...Hz power universal 100V 240V software platforms Microsoft Windows Linux all distributions Apple macOS Blackberry QNX WindRiver VxWorks libraries Haptics SDK Robotics SDK features ergonomics available in left and right hand configuration structure delta based parallel kinematics hand centered rotation movements decoupling between translation and rotation movements active gravity compensation calibr...

Page 26: ...26 ...

Page 27: ...27 ...

Page 28: ...e 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 All trademarks or trade names are properties of their respective owners Copyright 2020 Force Dimension All rights reserved ...

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