Running the Phantom Premium 3.0/6 DOF Haptic Device
We have a Force Feedback Device
with six degrees of freedom and a 7 DOF option
The following steps prepare your workstation for working and developing with this cool machine.
The following is tested under Windows 7 Professional, 64-bit
and Visual Studio 2010
Install the Phantom device drivers before
connecting the device to your workstation for the first time.
There are several documentation PDFs in the
folder of the Open Haptics Framework installation (e.g. under
The following is a quick summary of that material.
The drivers can be found at \\campdata\public\Drivers\Sensable_Phantom.
Open Haptics framework 3.1 Beta 3
The preview release of the Open Haptics framework 3.1 Beta 3 availiable at
Build the utilities code using VC 2010 solution file found in the install folder at
. Just open the solution file and batch build for all configurations.
There are many examples in the corresponding folder of the Open Haptics installation (e.g. under
Open one of the .sln files (e.g.
). The example projects come with property sheets for our Open Haptics Academic Edition
. Just select the corresponding debug or release configuration from the configuration manager in the topmenu.
You should be able to compile and run the examples, now.
Please read the Phantom's hardware guide carefully (You can find it under http://dsc.sensable.com/
Be careful with the arm of the device - the calibration bar is not intended for transport and does not hold the arm very tightly.
Connect the Phantom with your workstation via Fire Wire using the LPT Adapter.
(You only need the external power supply of the adapter when using a mini port).
There is no power button. Just plug in the power cable.
When doing this the first time, Windows will notify you about the new Hardware.
Test and Calibrate
The driver installation ships with tools for testing and calibrating the Phantom.
You can find them from the standard installation under (Windows->) Start->SensAble.
You can execute one of the precompiled demos in the
folder easily after a fresh install.
There is a ready to use model viewer in the examples directory, too. It can handle the .obj files shipped at the same location.
to get started with a more advanced demo.