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normal How to use Geomagic TOUCH X to control the robot i

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25 Apr 2016 15:23 #1

Hi~I want to use a TOUCH X to control the kuka robot in the V-REP.Now,in my computer,I have installed two software,Geomagic Touch Setup and Geomagic Touch Diagnostic.And my computer operating system is Windows 64 bit.
I have downloaded the package named chai3d-3.1.1-multiplatform.According to the instructions,I have completed the following steps:
A.Compilation
1.open the main CHAI3D-V-REP VisualStudio project file called CHAI3D-V-REP-VS2015.sln located in the installation root folder
2.select the build configuration and target architecture (V-REP requires Win32):
3.build CHAI3D-V-REP and all examples (Ctrl+Shift+B)
B.Copying the shared library and trying the examples
1.copy the v_repExtCHAI3D.dll shared library (and all other files) from ~/chai3d/modules/V-REP/bin/win-Win32 to your V-REP base installation.
(I have copied 8 files to C:\Program Files (x86)\V-REP3\V-REP_PRO_EDU)
2.load an example V-REP scene (e.g. ./01-V-REP-shapes.ttt) into V-REP
(I load 'Interface to haptic device.ttt' into V-REP)
3.start the V-REP simulation

When I open the file 'Interface to haptic device.ttm',the message in console window say 'Add-on script 'vrepAddOnScript-addOnScriptDemo.lua' was loaded'.
When I start the V-REP simulation,the message is ‘Lua API call error: [string "SCRIPT hapticDevice"]:302: Initialization failed. (simExtCHAI3D_start)’.
After that,I have downloaded the sdk-3.6.0.2684-win-x64(force dimension sdk) and installed it in my computer.
However,when I started the simulation again ,the problem has not been solved.
So,how can I solve this problem.
And there are other files in the package 'chai3d-3.1.1-multiplatform'.I just use the files in the V-REP folder,and then copy some of them to the V-REP base installation.Is this the right steps?
Maybe there are some problem lying in the CHAI3D code or device driver code.How could I solve them?
thanks~

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25 Apr 2016 20:07 #2

In order to verify if you haptic device is running correctly under CHAI3D, please do the following:

  1. Download a fresh copy of CHAI3D
  2. Open solution file CHAI3D-VS201X.sln
  3. Compile the solution in RELEASE mode and 64-bit
  4. Run example 01-mydevice to make sure that your device is detected
  5. Compile the solution in RELEASE mode and 32-bit
  6. Run example 01-mydevice to make sure that your device is detected

This test will tell us if your haptic device is configured correctly and which version of the drivers are supported. On 64-bit computers, depending of which version of the drivers and OpenHaptics you are using, running a 32-bit application on an 64-bit computer may fail.

Let us know if you manage to reach this point. If not, please use the Geomagic diagnostic tool to first configure and detect your haptic device.

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26 Apr 2016 05:08 #3

Hi.I have completed the steps above.When I run example 01-mydevice,the message in the windows is 'no device'.

When I open Geomagic Touch Diagnostic,the device can be used normally,it can be used to calibrete,read encoder ,test forces and so on in Geomagic diagnostic tool .So is this device has some problem?And how could I solve it?
Thank you very much~

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26 Apr 2016 12:40 #4

You also need to install the OpenHaptics framework from Geomagic.

3dsystems.teamplatform.com/pages/102774?t=r4nk8zvqwa91

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03 May 2016 10:32 #5

Hi~After installing the OpenHaptics framework from Geomagic,the example can work successfully.Now I want to control the kuka iiwa robot,and I want konw some code which can be used control the robot by haptic device.Could you give me some guide or example?

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17 May 2016 12:20 #6

The best way to get started is probably to look at the "02-V-REP-Pioneer" example from the CHAI 3D V-REP module. If you open the LUA script attached to the robot (the Pioneer_p3dx object in the scene hierarchy), you will see the code required to initialize the CHAI 3D plugin and communicate with the haptic device to drive the Pioneer robot.

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