Elective in Robotics Geomagic Touch
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1 Elective i Robotics Geomagic Touch Prof. Alessadro De Luca Elective i Robotics Haptic ad Locomotio Iterfaces 1
2 Geomagic Touch haptic device two pe buttos 3D 2 for devices available at DIAG Robotics Lab Elective i Robotics Haptic ad Locomotio Iterfaces 2
3 Phatom Omi (it is the same!) PHANTOM Omi ow Geomagic Touch SesAble Techologies ow 3D Systems Elective i Robotics Haptic ad Locomotio Iterfaces 3
4 Geomagic Touch data sheet (1.42 kg) (3 Degrees of Freedom) (6 Degrees of Freedom) Elective i Robotics Haptic ad Locomotio Iterfaces 4
5 Geomagic Touch i actio (actually, a Sesable Omi...) video Elective i Robotics Haptic ad Locomotio Iterfaces 5
6 Haptic rederig cotrol loop joit displacemet sesig (o device) (direct) kiematics collisio detectio (eviromet geometry) surface poit determiatio force calculatio kieto-statics actuatio (o device) Elective i Robotics Haptic ad Locomotio Iterfaces 6
7 Force feedback from Virtual or Real world virtual eviromet compliace modeled with a sprig/damper Elective i Robotics Haptic ad Locomotio Iterfaces 7
8 Force geeratio sigals desired force (i software) couts Alliso M. Okamura, 2015 D/A volts amplifiers voltage or curret actuator torques trasmissios ad kiematics ed-poit (3D) force Elective i Robotics Haptic ad Locomotio Iterfaces 8
9 Haptic/visual rederig architecture Elective i Robotics Haptic ad Locomotio Iterfaces 9
10 OpeHaptics makes programmig simpler by ecapsulatig the basic commo steps to all haptics/graphics applicatios i C++ classes of the QuickHaptics micro API commo steps parsig geometry files from popular aimatio packages creatig graphics widows ad iitializig OpeGL eviromet iitializig the haptic devices scee ad camera desig mappig force ad stiffess parameters to objects i the scee settig up callback resposes to iteractio devices Elective i Robotics Haptic ad Locomotio Iterfaces 10
11 OpeHaptics Toolkit Elective i Robotics Haptic ad Locomotio Iterfaces 11
12 OpeHaptics Toolkit Haptic Device API Haptic Library API Elective i Robotics Haptic ad Locomotio Iterfaces 12
13 OpeHaptics Toolkit Elective i Robotics Haptic ad Locomotio Iterfaces 13
14 QuickHaptics micro API classes ad properties implemeted i C++, with 4 primary fuctioal classes HIP locatio of the Haptic Iterface Poit (HIP) o the Touch device DeviceSpace workspace of motio for haptic device QHRederer (OpeGL) o-scree widow that reders shapes from a camera viewpoit ad lets the user feel those shapes via the device Shape base class for oe or more geometric objects that ca be redered both graphically ad haptically Cursor graphical represetatio of the ed poit of the secod lik of the device (HIP) Elective i Robotics Haptic ad Locomotio Iterfaces 14
15 QuickHaptics micro API classes ad properties Elective i Robotics Haptic ad Locomotio Iterfaces 15
16 OpeHaptics Overview HHD = Haptic Device Hadle HHLRC = Haptic Rederig Cotext Elective i Robotics Haptic ad Locomotio Iterfaces PDD =... Cotrol 16
17 Settig up the system pairig the device calibratig the device (stylus i the ik well) CPU IP address Elective i Robotics Haptic ad Locomotio Iterfaces 17
18 Rage of device motio macro movemets oly the first three joits are actuated! micro movemets (of the stylus) with fixed HIP pe buttos stylus switch ON if pressig dark gray butto presece switch ON if pressig light gray butto Elective i Robotics Haptic ad Locomotio Iterfaces 18
19 Degrees of freedom first three joits (positioig of the HIP): actuated last three joits as spherical wrist (orietatio of the stylus): passive Elective i Robotics Haptic ad Locomotio Iterfaces 19
20 What could be studied? DH parameters ad forward kiematics iverse kiematics Jacobia matrix ad sigularities joit level PD ad PID cotrol trajectory plaig (joit space vs. task space) various haptic (force) rederig laws force fields, god poit, hard ad soft cotacts o-goig developmet of a software eviromet for the simulatio of the haptic device... Elective i Robotics Haptic ad Locomotio Iterfaces 20
21 Medical applicatio Elective i Robotics Haptic ad Locomotio Iterfaces 21
22 Laboratory test bed with KUKA LWR4 referece frames slave = KUKA robot maipulator master = Touch haptic device Elective i Robotics Haptic ad Locomotio Iterfaces 22
23 Teleoperatio cotrol (4-way) geeral scheme Elective i Robotics Haptic ad Locomotio Iterfaces 23
24 Teleoperatio cotrol 2-way ad fial 3-way implemeted solutio Elective i Robotics Haptic ad Locomotio Iterfaces 24
25 Bibliography B. Haaford, A.M. Okamura, Haptics, Spriger Hadbook of Robotics (O. Khatib, B. Siciliao, Eds.), Spriger, 2008 K. Salisbury, F. Coti, F. Barbagli, Haptic rederig: Itroductory cocepts, IEEE Computer Graphics ad Applicatios, vol. 24, pp , 2004 Elective i Robotics Haptic ad Locomotio Iterfaces 25
26 hads o trial First demo preseted i April 2016 by Adrea Perica ad Fracesco Iodice This year demo is o December 1, :00-18:00, c/o room A4 itroduced by Prof. Marilea Vedittelli Elective i Robotics Haptic ad Locomotio Iterfaces 26
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