How to use the haptic device(TOUCH) to control the KUKA LBR_iiwa_7_R800 ?

[zhangm365]

Hi,
Now, I am trying to use the Haptic Device(TOUCH 3D) to control the KUKA robot, Would you please guide me？What is the route of this task?

Bests,
zhangm365

[coppelia]

Hello,

please check first if that device is supported by or compatible with CHAI3D. If yes, here is the CHAI3D plugin for CoppeliaSim. You'll have to compile it yourself, or we can also provide the binary for Windows.

Cheers

[zhangm365]

Hi,
The chai3d plugin can be successfully loaded! Then, I want to use the Haptic device(TOUCH 3D) to control the KUKA robot.
Thanks your reply!

[zhangm365]

Then, how to use the haptic device(TOUCH) to control the KUKA LBR_iiwa_7_R800 ?
How to continue this task？

[coppelia]

next, drag and drop the model Models/other/Interface to haptic device.ttm into the scene and run the simulation: you should see several shapes, that will move or rotate, and a small sphere that is linked to your haptic device. You can then move that sphere via your haptic device and interact (or at least feel) those created shapes in the scene. Have a look at the code of that model to get an idea how to have your device interact with some content in the scene.

Have also a look at the demo scene Scenes/hapticRobot.ttt

Cheers

[satheeshkumar_v]

Hi,

I am new to coppeliasim and visual basic. I have no idea how to compile the plugin in Visual basic. Would you please provide me the .dll file for 3d systems touch haptic device with coppelia sim.

Or would you please guide me with the step-by step tutorial please

Thanks
Satheesh

[coppelia]

Hello,

the CHAI3D plugin for CoppeliaSim is a c++ project. You can download the Windows dll here. Keep in mind that it was compiled for the newest release, and you might find some error messages. Let me know what it prints in the console.

Cheers

[satheeshkumar_v]

Hi,
Many thanks for your response. The following are the steps what I did and the console throws an error.

1. I have pasted the .dll in the installation directory(C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu).

2. And I started CoppeliaSim and dragged "Interface to haptic device.ttm" from models/others.

3. Then ran the simulation and the console throws "[/hapticDevice@childScript:error] CHAI3D plugin was not found, or was not correctly initialized (simExtCHAI3D.dll)."



The console shows
Could not find function simMultiplyPoses
simExtCHAI3D: error: could not find all required functions in the CoppeliaSim library. Cannot start the plugin.
plugin 'CHAI3D': load failed (failed initialization)

Best
Satheesh

[coppelia]

Ok, that's what I would have expected, since it is linked against the development version of CoppeliaSim. One solution would be to set the environment variable COPPELIASIMPLUGIN_IGNORE_MISSING_SYMBOLS and try again.

Cheers

[satheeshkumar_v]

Hi,

Many thanks, I'll try that and let you know the outcome.

Thanks