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USER MANUAL

lambda.7 haptic device

version 1.0

Force Dimension
Switzerland

www.forcedimension.com

Содержание lambda.7 haptic device

Страница 1: ...USER MANUAL lambda 7 haptic device version 1 0 Force Dimension Switzerland www forcedimension com...

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Страница 3: ...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 l...

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Страница 5: ...the software 14 4 2 Installation description 14 4 3 Installing the drivers 14 Configuring the lambda 7 under Linux 15 5 1 Installing the software 15 5 2 Installation description 15 5 3 Installing the...

Страница 6: ...evice stand rear leg 2 device stand front legs 3 device stand pole 4 haptic device controller 5 arms of translational base 6 rotational wrist 7 end effector force gripper handle 8 pole interface 9 pow...

Страница 7: ...ctions 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...

Страница 8: ...er and accessories as illustrated in figure 2 Figure 2 Transportation box which contains the lambda 7 device controller and accessories Among the accessories included with the haptic device are nine s...

Страница 9: ...stand pole 1x Figure 4 stand leg 3x The three legs are mounted to the pole by securely fastening the nine stand screws three screws per leg using the orange hex key as shown in figure 5 The screws and...

Страница 10: ...after removal of the upper foam layer Place the upper foam layer upside down on a flat surface Carefully extract the haptic device from the carboard box and place the system on its upper foam layer a...

Страница 11: ...rical contact points on the device 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 illustrat...

Страница 12: ...y secured by making sure that the device base cannot rotate around its vertical stand pole If any slippage occurs further tightening of the clamping screw may be required Figure 11 After loosening the...

Страница 13: ...upplies can be ordered directly from Force Dimension 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 d...

Страница 14: ...files required to run the lambda 7 software The required DLL files are also copied to the Windows system folder during the installation drivers subfolder This directory contains the USB drivers requir...

Страница 15: ...contains the demonstration executables and the binary files required to run the lambda 7 software examples subfolder This directory contains the demonstration programs Example applications described...

Страница 16: ...irectories bin subfolder This directory contains the demonstration executables and the binary files required to run the lambda 7 software examples subfolder This directory contains the demonstration p...

Страница 17: ...e 14 illustrates the coordinate system You will notice that the Z axis of the coordinate system is parallel to the first revolute axis of the wrist The actual origin of the coordinate system 0 0 0 is...

Страница 18: ...e 15 When all joint angles are equal to zero an identity rotation matrix is returned Figure 15 Reference frame of the wrist of the lambda 7 haptic device gripper angle The angular position of the forc...

Страница 19: ...the lambda 7 features grav ity compensation When gravity compensation is enabled the weights of the arms and of the end effector are taken into account and a vertical force is dynamically applied to t...

Страница 20: ...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 test the active locks run the auto c...

Страница 21: ...g 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 g...

Страница 22: ...nGL 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 f...

Страница 23: ...position electronics interface standard USB 2 0 refresh rate up to 4 KHz power universal 100V 240V software platforms Microsoft Windows Linux all distributions Apple macOS Blackberry QNX WindRiver VxW...

Страница 24: ...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 F...