Elective in Robotics – Haptic and Locomotion Interfaces 1
Elective in Robotics
Geomagic Touch
Prof. Alessandro De Luca
Geomagic Touch haptic device
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3D for2 devices available at DIAG Robotics Lab
two penbuttons
Phantom Omni (it is the same!)
SensAble Technologies ⇒ now 3D Systems
PHANTOM Omni ⇒ now Geomagic Touch
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Geomagic Touch data sheet
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(1.42 kg)
(6 Degrees of Freedom)
(3 Degrees of Freedom)
Geomagic Touch in action(actually, a Sensable Omni...)
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https://youtu.be/REA97hRX0WQ
video
Haptic rendering control loop
� joint displacement sensing (on device)
� (direct) kinematics� collision detection
(environmentgeometry)
� surface pointdetermination
� force calculation � kineto-statics� actuation
(on device)
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Force feedback from Virtual or Real world
virtualenvironmentcompliance
modeled with a spring/damper
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Force generation signals
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desired force(in software) counts
volts
amplifiers
actuatortorques
end-point(3D) force
D/A
© Allison M. Okamura, 2015
voltage or current
transmissionsand kinematics
OpenHaptics 3.3.0
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common stepsn parsing geometry files from
popular animation packagesn creating graphics windows and
initializing OpenGL environmentn initializing the haptic devicesn scene and camera designn mapping force and stiffness
parameters to objects in the scenen setting up callback responses to
interaction devices
makes programming simpler by encapsulating the basic common steps to all haptics/graphics applications in C++ classes of the QuickHaptics micro API
OpenHaptics Toolkit
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Haptic Device API
Haptic Library API
QuickHaptics micro APIclasses and properties
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location of theHaptic Interface Point (HIP)
on the Touch device
n DeviceSpacen workspace of motion for haptic device
n QHRenderer (OpenGL)n on-screen window that renders shapes
from a camera viewpoint and lets the user feel those shapes via the device
n Shapen base class for one or more geometric
objects that can be rendered both graphically and haptically
n Cursorn graphical representation of the end point
of the second link of the device (HIP)
implemented in C++, with 4 primary functional classes
HIP
QuickHaptics micro APIclasses and properties
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OpenHaptics Overview
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HHD = Haptic Device Handle HHLRC = Haptic Rendering Context
PDD = ... Control
Setting up the system
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CPU IP address
pairing the device
calibrating the device (stylus in the ink well)
Range of device motion
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macro movements micro movements(of the stylus)with fixed HIP
only the first three joints are actuated!
pen buttons• stylus switch ON if pressing dark gray button• presence switch ON if pressing light gray button
Degrees of freedom
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first three joints(positioning of the HIP):
actuated
last three joints as spherical wrist(orientation of the stylus):
passive
n DH parameters and forward kinematicsn inverse kinematicsn Jacobian matrix and singularitiesn joint level PD and PID controln trajectory planning (joint space vs. task space)n various haptic (force) rendering laws
n force fields, “god point”, hard and soft contacts
n on-going development of a software environment for the simulation of the haptic device...
What could be studied?
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Laboratory test bedwith KUKA LWR4
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slave = KUKA robot manipulator
master = Touch haptic device
reference frames
Teleoperation control(4-way) general scheme
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Teleoperation control2-way and final 3-way implemented solution
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Bibliography
n B. Hannaford, A.M. Okamura, “Haptics”, Springer Handbook of Robotics (O. Khatib, B. Siciliano, Eds.), Springer, 2008
n K. Salisbury, F. Conti, F. Barbagli, “Haptic rendering: Introductory concepts,” IEEE Computer Graphics and Applications, vol. 24, pp. 24-32, 2004
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