POSTECH

1
Omega Haptic Device

• CSE 20065073
• Lee, In

2
Whats the Omega?

• a haptic device maid by Force Dimension
• serves 3DoF

3
Features

• gravity compensation
• force button
• velocity monitoring brakes
• end-effecter tightening knob

4
Technical Information (cont.)

• workspace
• F160mm x L120mm
• force
• max. continuous 12N
• stiffness
• 14.5N/mm
• resolution
• lt 0.009mm

5
Technical Information

• Coordinate system
• center of the workspace is (0, 0, 0)
• the calibration pit places at the(0.016, -0.001,
  -0.071)
• Range
• -0.072 lt x lt 0.072
• -0.110 lt y lt 0.110
• -0.077 lt z lt 0.121

6
Using the Omega (cont.)

• Install drivers and libraries
• run /windows/setup.exe on the givenCD-ROM to
  launch the installation program
• follow the instructions to complete the
  installation
• all drivers, libraries, examples and the others
  are located inC/Program Files/Force Dimension/

7
Using the Omega

• Calibration
• calibration is performed once when the device is
  powered on
• if the status LED is blinking, place the
  calibration pole in the calibration pit

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Using the Omega

• Programming
• include dhdc.h and link dhdms.lib
• Main API functions
• dhdOpen()
• dhdClose()
• dhdGetPosition(double, double, double)
• dhdSetForce(double, double, double)

9
QA