A modified version of the "shapes" example from Chai3D using Boost to demonstrate the impact of constant delay in teleoperation.
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Failed to load latest commit information.
DTD.cpp
Licence.txt
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].