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SensAble
Technologies: n
1993³â MIT ÀΰøÁö´É¿¬±¸½Ç(Ken. Salisbury±³¼ö) Ãâ½ÅÀÇ Thmas Massie ¼³¸³. n
¼¼°è ÃÖÃÊÀÇ »ó¾÷¿ë ÇÝÆ½ ÀåºñÀÎ PHANTOM°ú GHOST SDK ¹ßÇ¥. n
ƯÇã±â¹ÝÀÇ µ¿·Â Àü´Þ ¸ÞÄ¿´ÏÁòÀ» ä¿ëÇÏ¿© Çϵå¿þ¾îÀÇ °ü¼º°ú ¸¶Âû·ÂÀ» ÃÖ¼ÒÈ. n
¼¼°èÀûÀ¸·Î °¡Àå ¼º°øÇÑ ÇÝÆ½ µð¹ÙÀ̽º. n
Àΰ£°ú ÄÄÇ»ÅÍÀÇ »óÈ£ÀÛ¿ëÀ» ¼öÇà. n
´ëºÎºÐ Stylus Pen (End-Effector)
ÀÎÅÍÆäÀ̽º. n
¶á¶áÇÏ°í ½Å·Ú¼º ÀÖ´Â ±¸Á¶ÀÇ µðÀÚÀÎ: |
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n
°¡°Ý ´ëºñ ¼º´ÉÀÌ ¶Ù¾î³ Àú°¡ÀÇ Àåºñ. n
ÇÝÆ½ Àû¿ë ¼ÒÇÁÆ®¿þ¾î °³¹ß¿¡ ÁÖ·Î »ç¿ë. n
IEEE-1394 FireWire¢ç Æ÷Æ® ÀÎÅÍÆäÀ̽º. |
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n
Áß°£ ±ÞÀÇ ÇÝÆ½ ÀÎÅÍÆäÀ̽º. n
PHANTOM Omni º¸´Ù Å« ÀÛ¾÷°ø°£ °ú ÀÛÀº ³»ºÎ ¸¶Âû. n
ÇÝÆ½ °ü·Ã ¿¬±¸ ¹× °³¹ß¿¡ ÁÖ·Î »ç¿ë. |
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3 ÀÚÀ¯µµMotor-Driven Mechanical Device: |
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n
°í±Þ ÇÝÆ½ ÀÎÅÍÆäÀ̽º. n
3 ÀÚÀ¯µµ Ãâ·Â: - Fx, Fy, Fz. n
3 ÀÚÀ¯µµ ÀÔ·Â: - À§Ä¡ Ç¥Çö(Position): X, Y, Z. n
3 ÀÚÀ¯µµ Ãß°¡ ÀÔ·Â (¿É¼Ç): - Encoder Gimbal ¿É¼ÇÀ¸·Î ¹æÇâ Ç¥Çö Ãß°¡: * Roll, Pitch, Yaw. n º´·Ä(Parallel: EPP/ECP) Æ÷Æ® ÀÎÅÍÆäÀ̽º. |
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1.0 - finger stylus 1.5 - Encoder Gimbal 1.5HF - End Effector 3.0 - Encoder Gimbal |
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6 ÀÚÀ¯µµ Force
FeedbackÀ» Á¦°øÇÏ´Â6 ÀÚÀ¯µµ Motor-Driven Mechanical Device: |
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n
¸ðµç ¹æÇâÀÇ Èû°ú ÅäÅ© Á¦°ø. n
ÃÖ»óÀ§ ÇÝÆ½ ÀÎÅÍÆäÀ̽º. n
6 ÀÚÀ¯µµ ÀÔ·Â: - X, Y, Z. - Roll, Pitch, Yaw. n
6 ÀÚÀ¯µµ Ãâ·Â: - Peak Force : X, Y, Z - Peak
Torque : Roll, Pitch, Yaw. |
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PHANTOM¢ç
Àåºñ¸¦ À§ÇÑ ¼ÒÇÁÆ®¿þ¾î °³¹ß ŸŶ: |
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n 3D µðÀÚÀÎ, ¸ðµ¨¸µ,
ÀÇÇÐ, °¡½ÃÈ ¹× ½Ã¹Ä·¹ÀÌ¼Ç µî ´Ù¾çÇÑ ¾îÇø®ÄÉÀ̼ÇÀÇ °³¹ßÀÚµéÀÌ ÀÚ½ÅÀÇ ÇÁ·Î±×·¥¿¡ Ã˰¨ À̳ª »ç½ÇÀûÀÎ 3Â÷¿ø Ž»ö ±â´ÉÀ» ¼Õ½±°Ô Ãß°¡. n ±×·¡ÇÈ Ç¥Çö ¹× ·»´õ¸µÀ» À§ÇÑ OpenGL API »ç¿ë: - »õ·Î¿î ¶Ç´Â ±âÁ¸ÀÇ OpenGL ¾îÇø®ÄÉÀ̼ǿ¡ ¸¶Âû, µüµüÇÔ°ú
°°Àº Ã˰¨ ¼Ó¼ºÀ» ºü¸£°Ô Ãß°¡. n »ó¾÷¿ë ¾îÇø®ÄÉÀ̼ǿ¡ Ã˰¨°ü·Ã ±â´É À̳ª
»ç½ÇÀûÀÎ 3Â÷¿ø Ž»ö ±â´ÉÀ» Ãß°¡. n
È®Àå °¡´ÉÇÑ ±¸Á¶·Î »õ·Î¿î ŸÀÔÀÇ Çü½ÄÀ» Áö¿øÇÏ´Â ±â´É Ãß°¡. |
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n ½áµå-ÆÄÆ® ¶óÀ̺귯¸®¿Í ÅëÇÕ: - ¹°¸®ÇÐ, µ¿¿ªÇÐ ¶Ç´Â Ãæµ¹°ËÃâ ¿£Áø µî * SmartCollision SDK. * VPS(Voxmap PointShell Software). n
SenseGraphics H3D API ¿Í ÅëÇÕ: - X3D Ç¥ÁØ Çü½Ä. n
¿î¿µ ü°è: - Win32/64 XP/Vista/7. - Linux¢ç (SUSE¢ç and Red Hat¢ç). |
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Haptic Device API (HDAPI): n
³·Àº ·¹º§ÀÇ µð¹ÙÀ̽º Á¦¾î ±â´É. n
À§Ä¡, ¹æÇâ, ¼Óµµ, ¹öÅÏ, 3°³ ÁÂÇ¥ °ø°£: µ¥Ä«¸£Æ®, Á¶ÀÎÆ®, ·Î µ¥ÀÌÅÍ ÀÔÃâ·Â (ÀÎÄÚ´õ/DAC) µî Haptic Library API (HLAPI): n
ÇÁ·Î±×·¡¸Ó¿¡ Ä£¼÷ÇÑ OpenGL API ¿Í À¯»çÇÑ ±¸Á¶ÀÇ C ¾ð¾î
API. n
OpenGL °ú ÅëÇÕ, ±âÁ¸ÀÇ OpenGL ÇÁ·Î±×·¥¿¡ ½±°Ô Ã˰¨ ¼Ó¼ºÀ» Ãß°¡. QuickHaptics micro API: n
C++ »ç¿ëÇÏ´Â API·Î OpenHaptics 3.0 Ãß°¡. n
ÇÝÆ½ÀÇ ºñ Àü¹®°¡ ÀÏÁö¶óµµ ±ØÀûÀ¸·Î ºü¸£°í °£´ÜÇÏ°Ô ¾îÇø®ÄÉÀ̼ǿ¡ Ã˰¨ ºÎ¿©. n
ÀüÇüÀûÀÎ ÇÝÆ½ ¾îÇø®ÄÉÀ̼ǿ¡ ´ëÇÑ ³í¸®Àû ½ºÅÜÀ» ĸ½¶È(Encapsulate)ÇÑ ±×·¡ÇÈ ¹× ÇÝÆ½
Function CallÀ» »ç¿ëÇÏ¿© ºü¸£°í ½±°Ô »õ·Î¿î ¾îÇø®ÄÉÀÌ¼Ç ÀÛ¼º, ¶Ç´Â ±âÁ¸ ¾îÇø®ÄÉÀ̼ǿ¡ ÇÝÆ½½º Ãß°¡. |
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Open Inventor & Avizo´Â VSG»çÀÇ µî·Ï»óǰÀ̸ç, PHANTOM, OpenHapticsÀº SensAble
Technologies»çÀÇ µî·Ï»óÇ¥À̸ç, (ÁÖ)¾²¸®µð ÀÎÅÍÆäÀ̽º´Â VSG »çÀÇ Á¦Ç° ±º ¹× PHANTOM Á¦Ç° ±ºÀ»
±¹³» µ¶Á¡ °ø±ÞÇÕ´Ï´Ù Omega & Delta ¹× Sigma´Â
ForceDimension »çÀÇ µî·Ï»óÇ¥À̸ç, ForceDimension, SenseGraphics ¹× Novint »çÀÇ
»ó±â Á¦Ç° ±ºÀÇ °ø½Ä Çѱ¹ ´ë¸®Á¡ ÀÔ´Ï´Ù.
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