YASKAWA-Robot-Teleoperation

An interface to control a YASKAWA GP7-YRC1000 industrial robotic arm through a teleoperation method. This project uses a 3DS Haptic Teleoperation device to control the robot.

Driver Installation

If you are fisrt time using haptic, you need to install the haptic driver and the OpenHaptic plugin for C++. Find the driver in the link below.

Open Haptic 3.4 : https://support.3dsystems.com/s/article/OpenHaptics-for-Windows-Developer-Edition-v34?language=en_US

3DS Haptic Driver: https://support.3dsystems.com/s/article/Haptic-Device-Drivers?language=en_US

Project configuration

The program is written in Visual Studio 2019 C++. However, we need to install Visual Studio 2010 since the haptic driver only supports the v100 platform toolset.

1. Select the project configuration as Release and the platform x86.

2. Open the Project⮕Properties. In General set the properties as follow:

   • Platform Toolset : Visual Studio 2010 (v100)
   • Use of MFC : Use MFC in a Shared DLL
   • Character Set : Use Multi-Byte Character Set

3. Next go to C/C++ --> General, under the Additional Include Directories add the these following path to your OpenHaptic include.

   • C:\OpenHaptics\Developer\3.4.0\utilities\include
   • C:\OpenHaptics\Developer\3.4.0\Quickhaptics\header
   • C:\OpenHaptics\Developer\3.4.0\include

4. After that go to Linker --> General and under the Additional Library Directories add the libs directory:

   • C:\OpenHaptics\Developer\3.4.0\utilities\lib\Win32\Release
   • C:\OpenHaptics\Developer\3.4.0\Quickhaptics\lib\Win32\Release
   • C:\OpenHaptics\Developer\3.4.0\lib\Win32\Release

5. We also need to specify the name of the lib files. Under the Linker select Input and then add the following lib files.

   hd.lib
   hdu.lib
   hl.lib
   ws2_32.lib