USER MANUAL
omega.x haptic device
version 1.7
06.2013
Force Dimension Route de Saint-Cergue 295 CH – 1260 Nyon Switzerland www.forcedimension.com
Страница 1: ...USER MANUAL omega x haptic device version 1 7 06 2013 Force Dimension Route de Saint Cergue 295 CH 1260 Nyon Switzerland www forcedimension com...
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Страница 3: ...ptic software SDK to describe the operation of the omega x haptic device glossary FD SDK refers to the Software Development Kit SDK for all Force Dimension products omega x refers to the base haptic d...
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Страница 5: ...stalling the drivers 11 5 configuring the omega 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 Mac OS X 1...
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Страница 7: ...1 1 12 1 13 5 8 9 1 base plate 8 status LED 2 control unit 9 force LED 3 arms 10 programmable button 4 end effector 11 power switch 5 force button 12 power connector 6 calibration pole 13 USB connecto...
Страница 8: ...warnings and instructions marked on this unit 3 do not use or place this system near water 4 place the unit securely on a stable surface 5 make sure that the workspace of the omega x is free of objec...
Страница 9: ...ove the device stabilizer and the accessories box from within the box Carefully remove the device and the end effector stabilizer from the box then remove the end effector stabilizer figure 1 omega x...
Страница 10: ...the power supply into the power connector The system supports either 110 120 Volts or 220 230 Volts Only use the Force Dimension power supply that came with your device Re placement power supplies ca...
Страница 11: ...ega x software The required DLL files are also copied to the Windows system folder during the installation drivers subfolder This directory contains the USB and PCI drivers required to operate your de...
Страница 12: ...ing 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 demonstrati...
Страница 13: ...is 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...
Страница 14: ...der values into X Y Z coordinate expressed in IUS metric unit Figure 2 shows the coordi nate system The actual origin of the coordinates system 0 0 0 is located on a virtual point at the center of the...
Страница 15: ...ns optional The omega 6 and omega 7 provide a rotational structure Rotation information can be retrieved as a reference frame expressed by a 3x3 rotation matrix figure 3 reference frame of the omega 6...
Страница 16: ...t there can be no drift of the calibration over time so the procedure only needs to be performed once when the device is powered on The calibration procedure consists in placing the calibration pole i...
Страница 17: ...ault and can be disabled via the Force Dimension SDK forces by default when an application opens a connection to the device the forces are dis abled Forces can be enabled or disabled at any time by pr...
Страница 18: ...is made from the computer the forces are automatically dis abled to avoid unexpected behaviors The user must press the force button to enable the forces This feature cannot be disabled If the control...
Страница 19: ...allows the programmer to list all Force Dimension haptic devices connected to the system test each device position reading test each device force torque capability test each device auto calibration p...
Страница 20: ...is working properly and to evaluate your system s performance independently of the graphics rendering performance torus will allow you to test the combined performance of haptics and graphics renderin...
Страница 21: ...figure 7 torus example note OpenGL and the OpenGL Utility Toolkit GLUT must be installed for your compiler and development environment to compile this example Please refer to your compiler documentat...
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Страница 23: ...r input 1 programmable button safety velocity monitoring electromagnetic damping omega 6 extension workspace rotation 240 x 140 x 320 deg resolution angular 0 09 deg option available for right or left...
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 Fo...
