Application of the Novint Falcon haptic device as an actuator in real-time control
This paper describes the development of an embedded system whose purpose is to control the Novint Falcon as a robot, and to develop a control experiment that demonstrates the use the Novint Falcon as a robotic actuator. The Novint Falcon, which is a PC input device, is “haptic” in the sense that it...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2013-12-01
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| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/pjbr-2013-0017 |
| Summary: | This paper describes the development of an embedded system whose purpose is to control the Novint Falcon as
a robot, and to develop a control experiment that demonstrates the use the Novint Falcon as a robotic actuator.
The Novint Falcon, which is a PC input device, is “haptic” in the sense that it has a force feedback component.
Its relatively low cost compared with other platforms 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, which is subsequently used to control three independent Novint Falcons for a “ballon-
plate” experiment. The results show that the device is a viable solution for high-speed actuation of small-scale
mechanical systems. |
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| ISSN: | 2081-4836 |