Application of the novint falcon haptic device as an actuator in real-time control
Michelotti, Mark B.
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https://hdl.handle.net/2142/24126
Description
Title
Application of the novint falcon haptic device as an actuator in real-time control
Author(s)
Michelotti, Mark B.
Issue Date
2011-05-25T15:00:19Z
Director of Research (if dissertation) or Advisor (if thesis)
Sreenivas, Ramavarapu S.
Department of Study
Industrial&Enterprise Sys Eng
Discipline
Systems & Entrepreneurial Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Novint Falcon
haptic
robotics
control
ball and plate
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."
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