A modified version of the "shapes" example from Chai3D using Boost to demonstrate the impact of constant delay in teleoperation.
C++
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DTD.cpp
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README.md

README.md

Delayed Teleoperation Demo

A modified version of the "shapes" example from Chai3D using Boost C++ libraries to demonstrate the impact of constant delay in teleoperation. Tested with the IEEE-1394 (aka FireWire) version of Sensable Technologies PHANTOM Omni(R).

A buffer is placed between the position data stream and the force feedback data stream. Imagine this buffer as a communication channel module between the master device and the virtual environment.

How to use

Controls Actions
+ Increase latency
- Decrease latency

Known Issues

  • When you concanstly press the + or - keys to increase/decrease delay, the program sometimes crashes.

Ways to improve it

  • Fix known Issues (duh!).
  • Implement stability control algorithms (eg. passivity-based control).
  • Make the Phantom Omni run under Linux. No coding needed, but the IEEE-1394 version just won't work for me under Linux.
  • Suggest other ways to improve it.

License

The code is licenced under the Revised BSD License (3-clause) according to [http://www.chai3d.org/download/license].