Force Dimension lambda.7 haptic device, Руководство пользователя, Страница: 19 / 24

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7.2 Operating modes
calibration
Calibration of the haptic device controller is necessary to obtain accurate, reproducible localiza-
tion of the end-effector within the workspace of the haptic device. The lambda.7 is designed in
such a way that there can be no drift of the calibration over time, so the procedure only needs to
be performed once each time the device is powered 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. Please do not touch the device during this automatic calibration procedure.
After calibration, the device is ready for normal operation.
gravity compensation
To prevent user fatigue and to improve dexterity during manipulation, 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 the end-effector in
addition to the desired user force command. Please note that gravity compensation is computed
on the host computer, and therefore only gets updated every time a new force command is sent to
the haptic device by the application. Gravity compensation is enabled by default and can be dis-
abled through the Force Dimension SDK.
forces
By default, and when an application opens a connection to the haptic device controller, all forces
are initially disabled. Forces can be enabled or disabled through the Force Dimension SDK.
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.