Delay Loop

Future I 2 C internal communication implementation

Equation 21: Scaling and Translation Matrix

Equation 22: Transformation Multiplication

Equation 23: Transformation of 2D Point

public sealed class Matrix2D_ScaleTranslate {

public Vector2D Scale; .

public Vector2D Offset;

static public Matrix2D_ScaleTranslate operator

*(Matrix2D_ScaleTranslate m1, Matrix2D_ScaleTranslate m2) {

Matrix2D_ScaleTranslate rtn = new Matrix2D_ScaleTranslate (); rtn.Scale = m1.Scale * m2.Scale;

rtn.Offset = (m1.Scale * m2.Offset) + m1.Offset; return rtn;

Future I 2 C internal communication implementation

Snippet 13: Delay Loop

As seen from i2cclock in Snippet 12, there are three calls to a delay macro (Snippet 13). This

function simply loops until the specified time has elapsed. The number of times to loop is

determined by the selected clock frequency

and known properties of the

PIC16F690 microcontroller.

Chapter 6:

Conclusion and Future Recommendations

The project to retrofit the Mitsubishi RV-M1 into a haptic input device has proved difficult to

complete. The initial problem faced is the design of the RV-M1. As the manipulator is designed

for pick and place operations, it provides only five DOF, rather than the required six. In order to

achieve the desired feedback, addition of an additional drive linkage to the end effecter would

be required.

The manipulator provides a high drive-back force and inertia components when the device is

decoupled. This is caused by the gearing ratios used within the device, and has the effect that

the arm is difficult move with any precision. Further to this, resolution of forces applied to the

arm would be too low to function as an effective input device.

As the controller which is supplied with the RV-M1 does not provide any method of force

control or measurement, a new controller has been designed. However, as time constraints

prevented the design to be implemented, functionality still remains unknown. A lack of

controller has prevented further development in linking the physical device and simulation.

Simulation of the manipulator has successfully demonstrated the ability of the manipulator to

behave as a force feedback device. However, the workspace where forces are rendered

(without introduction of error) is too small for the femur realignment scenario. This suggests

that the use of a parallel device, similar to that of the Delta.6

, would be a more effective

configuration.

The design of GUI for integration with other elements developed outside of the project has

produced an effective means of presenting the user with data in an aesthetically pleasing

manner.

Further work should be carried out on designing a novel haptic platform which provides a large

work area with a high level of dexterity. This device should have low drive-back forces and be as

close to statistically balanced as possible to maintain dynamic range.

The electrical controller for this device should be designed to interface to PC via modern

methods (USB) and feature plug and play type operation. This would serve in reducing

complexity and make progress towards developing an easily integrated system.

Glossary

x

API



Application Programming Interface

x

C#



C# programming language

x

CPU



Central Processing Unit

x

GUI



Graphical User Interface

x

GPU



Graphics Processing Unit

x

SDK



Software Development Kit. Provides examples and required files

for a developer to learn to use an API.

x

Shader



A short program executed on the GPU to define how an object is

rendered

x

Haptics



The means by which humans and other animals communicate via touch.

x

USB



Universal Serial Bus

x

HMI

