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 |
| _version_ | 1797427318706143232 |
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| author | Block Daniel J. Michelotti Mark B. Sreenivas Ramavarapu S. |
| author_facet | Block Daniel J. Michelotti Mark B. Sreenivas Ramavarapu S. |
| author_sort | Block Daniel J. |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T08:42:31Z |
| format | Article |
| id | doaj.art-0df2bc0f26094d1d81644069c4461ecf |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-09T08:42:31Z |
| publishDate | 2013-12-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-0df2bc0f26094d1d81644069c4461ecf2023-12-02T16:14:03ZengDe GruyterPaladyn2081-48362013-12-014318219310.2478/pjbr-2013-0017Application of the Novint Falcon haptic device as an actuator in real-time controlBlock Daniel J.0Michelotti Mark B.1Sreenivas Ramavarapu S.2College of Engineering Control Systems Laboratory, University of Illinois at Urbana-Champaign, Urbana IL 61801, USANavistar Inc., Barrington, IL 60010, USACoordinated Science Laboratory & Industrial and Enterprise Systems Engineering, University of Illinois at Urbana-Champaign, Urbana IL 61801, USAThis 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.https://doi.org/10.2478/pjbr-2013-0017haptic device embedded systems electromechanical systems |
| spellingShingle | Block Daniel J. Michelotti Mark B. Sreenivas Ramavarapu S. Application of the Novint Falcon haptic device as an actuator in real-time control Paladyn haptic device embedded systems electromechanical systems |
| title | Application of the Novint Falcon haptic device as an actuator in real-time control |
| title_full | Application of the Novint Falcon haptic device as an actuator in real-time control |
| title_fullStr | Application of the Novint Falcon haptic device as an actuator in real-time control |
| title_full_unstemmed | Application of the Novint Falcon haptic device as an actuator in real-time control |
| title_short | Application of the Novint Falcon haptic device as an actuator in real-time control |
| title_sort | application of the novint falcon haptic device as an actuator in real time control |
| topic | haptic device embedded systems electromechanical systems |
| url | https://doi.org/10.2478/pjbr-2013-0017 |
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