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

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Title: Application of the novint falcon haptic device as an actuator in real-time control
Author(s): Michelotti, Mark B.
Advisor(s): Sreenivas, Ramavarapu S.
Department / Program: Industrial&Enterprise Sys Eng
Discipline: Systems & Entrepreneurial Engr
Degree Granting Institution: University of Illinois at Urbana-Champaign
Degree: M.S.
Genre: Thesis
Subject(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.
Issue Date: 2011-05-25
Rights Information: Copyright 2011 Mark B. Michelotti
Date Available in IDEALS: 2011-05-25
Date Deposited: 2011-05

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