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

"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."

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Systems & Entrepreneurial Engr

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2011

Author dc:creator

• Michelotti, Mark B.

Contributors dc:contributor

• Sreenivas, Ramavarapu S.

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

Statement dc:rights

• Copyright 2011 Mark B. Michelotti

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/24126

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/24126