Close

Stage 6 - New equations and Vr Test

A project log for Multipurpose modular haptic control

This project has an intention to develop a haptic device that can control almost everything, it must be cheap, easy to build and implement.

Maximiliano RojasMaximiliano Rojas 08/14/2018 at 16:370 Comments

Due the equations presented for the Position and Orientation Acquisition System has some issues, I decided to figure out why it happens and try to solve it. The clues are:

It can be generated by two possible mistakes:

I tried to recalibrate and formulate variations of the model several times, but nothing works, so I just make another representation of the model by vector instead of Homogeneous matrix representation. The position of the end effector and its orientation are analyzed independently, the model is:

where:

[Px Py Pz] is the end effector's position. The orientation is presented as the homogeneous transform form, so:

Where Rx, Ry and Rz are the canonical rotation matrix in each axis. To represent it as Euler angles (r,p,y) we need to make relations between the elements of the rotation matrix  R, so:

The Euler angles are:

This is tested in a virtual environment in Unity (just move a cube) as the next vídeo show:

Discussions