Application of the novint falcon haptic device as an actuator in real-time control

Novint Falcon;haptic;robotics;control;ball and plate

Michelotti, Mark B. ; Sreenivas ; Ramavarapu S.

关键词: Novint Falcon;    haptic;    robotics;    control;    ball and plate;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/24126/Michelotti_Mark.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

The two goals of this thesis are A) to develop an embedded system whose purpose is to control the Novint Falcon as a robot, and B) to develop a control experiment that demonstrates the use the Novint Falcon as a robotic actuator. The contents of this report are therefore divided into two parts. Part A deals specifically with the Novint Falcon, which is a PC input device which is "haptic" in the sense that it has a force feedback component. It is similar in configuration to the common delta robot, whose speed and accuracy has made it useful in pick-and-place operations. Along with its relatively low cost compared with other platforms, this makes it a good candidate for academic application in robot modeling and control. An embedded system is developed to interface with the multiple motors and sensors present in the Novint Falcon. Part B deals with demonstrating the use of the Novint Falcon as an actuator for a ball-on-plate control experiment. The results show that the device is a viable solution for high-speed actuation of small-scale mechanical systems.