Abstract
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.
References
[1] http://www.novint.com/index.php/products/novintfalcon. Search in Google Scholar
[2] S. Martin and N. Hillier, “Characterization of the Novint Falcon Haptic Device for Application as a Robot Manipulator,” in Proc. Australasian Conference on Robotics and Automation (ACRA), Sydney, Australia, December, 2009. Search in Google Scholar
[3] L.W. Tsai, and R. Stamper, “A Parallel Manipulator with Only Translational Degrees of Freedom,” Proceedings of the 1996 ASME Design Engineering Technical Conferences, Irvine, CA, 96- DETC/MECH-1152, 1996. 10.1115/96-DETC/MECH-1152Search in Google Scholar
[4] L.W. Tsai, and R. Stamper, “A Parallel Manipulator with Only Translational Degrees of Freedom,” ISR Technical Report TR-97-72, 1997. 10.1115/96-DETC/MECH-1152Search in Google Scholar
[5] C.G. Broyden, “A class of methods for solving nonlinear simultaneous equations,” Math Comput. 19 (1965), 577-593. 10.1090/S0025-5718-1965-0198670-6Search in Google Scholar
[6] M.T. Heath, Scientific Computing: An Introductory Survey, McGraw-Hill Series in Computer Science, McGraw-Hill, New York, 1997. Search in Google Scholar
[7] Texas Instruments Inc., “TMS320F28335, TMS320F28334, TMS320F28332, TMS320F28235, TMS320F28234, TMS320F28232 Digital Signal Controllers (DSCs),” datasheet, 2007, Revised 2010. Search in Google Scholar
[8] Allegro Microsystems Inc., “Full-Bridge PWM Motor Driver,” A3953 datasheet, 2008. Search in Google Scholar
[9] LSI/CSI, “32-Bit Quadrature Counter with Serial Interface,” LS7366R datasheet, 2009 Search in Google Scholar
[10] OmniVision, ”OV6620 Single-Chip CMOS CIF Color Digital Camera,” OV6620 datasheet, 1999 Search in Google Scholar
[11] Texas Instruments Inc., ”OMAP-L138 Low-Power Applications Processor,” OMAP-L138 datasheet, 2009 Search in Google Scholar
[12] M.W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, Third edition, John Wiley, New York, ISBN 0-471- 64990-2. Search in Google Scholar
[13] R. R. Sumar, A. A. R. Coelho and L. D. Coelho, Computational intelligence approach to PID controller design using the universal model, Information Sciences, vol. 180, no. 20, pp. 3980-3991, 2010. Search in Google Scholar
[14] S. Thomsen, N. Hoffmann and F. W. Fuchs, PI control, PI-based state space control and model based predictive control for drive systems with elastically coupled loads - A comparative study, IEEE Transactions on Industrial Electronics, vol. 58, no. 8, pp. 3647- 3657, 2011. Search in Google Scholar
[15] M.-B. Radac, R.-E. Precup, E. M. Petriu and S. Preitl, Application of IFT and SPSA to servo system control, IEEE Transactions on Neural Networks, vol. 22, no. 12, pp. 2363-2375, 2011. Search in Google Scholar
[16] W. Zhi, Q. S. Luo and J. F. Liu, An improved PID tuning algorithm for mobile robots, in: Advances in Electronic Commerce, Web Application and Communication, Volume 1, D. Jin and S. Lin (Eds.), Advances in Intelligent and Soft Computing, Springer-Verlag, vol. 148, pp. 345-353, 2012. 10.1007/978-3-642-28655-1_55Search in Google Scholar
[17] E. Joelianto, D. C. Anura and M. P. Priyanto, ANFIS - hybrid reference control for improving transient response of controlled systems using PID controller, International Journal of Artificial Intelligence, vol 10, no. S13, pp. 88-111, 2013.Search in Google Scholar
This content is open access.
