{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/24126"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/24126","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Application of the novint falcon haptic device as an actuator in real-time control","abstract":"\"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.\"","abstract_html":""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."","abstract_has_math":false,"creators":["Michelotti, Mark B."],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Systems & Entrepreneurial Engr","degree_department":null,"school":null,"contributors":["Sreenivas, Ramavarapu S."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-05-25T15:00:19Z","date_published":"2011-05-25T15:00:19Z","updated_at":"2026-07-22T22:25:23Z","subjects":["Novint Falcon","haptic","robotics","control","ball and plate"],"languages":["en"],"rights":["Copyright 2011 Mark B. 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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.\"","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2011-04-27T21:37:02Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Michelotti_Mark.pdf: 2044379 bytes, checksum: 645147a2192cd884587db5e282943134 (MD5)","Made available in DSpace on 2011-05-25T15:00:19Z (GMT). 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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.\"","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2011-04-27T21:37:02Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Michelotti_Mark.pdf: 2044379 bytes, checksum: 645147a2192cd884587db5e282943134 (MD5)","Made available in DSpace on 2011-05-25T15:00:19Z (GMT). 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