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Custom device with admittance control

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02 Mar 2017 16:49 #1

Hello,

I would use a custom device with an admittance control scheme. It's seem that CHAI3D use an impedence control scheme.

Is there any project who already did this before and solve inverse solutions ?

I am looking specifically for methods computeForce (to computePosition) for Haptics Effects class and setForceAndTorqueAndGripperForce (to setPosition) for cMyCustomDevice class.

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02 Mar 2017 17:31 #2

If your device uses admittance control, I believe that your have a force sensor mounted at the end-effector?

If you do have a force sensor, the best is to create a control loop that reads the desired force from the application (CHAI3D) and compares it with the current force measured by the force sensor. A position command is then sent to the admitance haptic device accordingly. Such approaches have been used in the past on devices such as the Haptic Master from Moog FCS.

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25 Jul 2017 14:06 #3

Thanks you for answer!

I get one more question to the creation of new devices. You indicate in tutorial to use the CMyCustomDevice class. If I want to create a new device class inspired by CMyCustomDevice I necessary need to modify :

chai3d.h to include the new device class
CGenericHapticDevice.h to add device name in the enum
CGlobal.h to define in witch configuration my device is available (Windows, Mac or Linux)
CHapticDeviceHandler.cpp to add a search device routine

Those modification work for me but is there an other way to add new devices without all of this modification ?

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