Geomagic Geomagic Phantom Premium 1.56DOF, Руководство по эксплуатации устройства

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Premium 1.56DOF/1.5HF6DOF Device Guide H-3
A
PPENDIX
: W
ORKING WITH
P
INCH
E
ND
E
FFECTORS
Calibrating the End Effectors
After you have installed the Phantom Device Driver (PDD) and have connected the
Phantom device to your computer, you will need to calibrate the device and the thumb-pad
or scissors end effectors. End effectors are calibrated through the
Read encoders tab of the
Phantom Test dialog. To do this, follow the steps below.
3 From Start>All Programs>Sensable , open Phantom Test .
4 Hold the Phantom device in the neutral position (with the 4 rotary joints lined up) and
press the
Space bar on the keyboard.
5 The Pinch option in the dialog will report a status of Uncalibrated .
6 Close (press) the end effector completely, and press the Space bar on the keyboard.
7 Open (release) the end effector completely, and the press the Space bar again.
8 The Pinch option in the dialog should now show continuous readings from the end
effector encoder (as shown). This indicates that the end effector is calibrated and
ready to use.
Note When the thumb-pad end effector is completely open (released), the Pinch
reading corresponds to zero . (If using scissors, it corresponds to one .) When the
thumb-pad end effector is completely closed (pressed completely), the Pinch
reading corresponds to
one in normalized encoder values. (If using scissors, it
corresponds to zero .) The intermediate positions are distributed between zero and
one (or vice versa, if using scissors).