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.
| Controls | Actions |
|---|---|
| + | Increase latency |
| - | Decrease latency |
- When you concanstly press the + or - keys to increase/decrease delay, the program sometimes crashes.
- 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.
The code is licenced under the Revised BSD License (3-clause) according to [http://www.chai3d.org/download/license].