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Paladyn, Journal of Behavioral Robotics

Editor-in-Chief: Schöner, Gregor

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2081-4836
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Application of the Novint Falcon haptic device as an actuator in real-time control

Daniel J. Block
  • College of Engineering Control Systems Laboratory, University of Illinois at Urbana-Champaign, Urbana IL 61801, USA
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/ Mark B. Michelotti / Ramavarapu S. Sreenivas
  • Coordinated Science Laboratory & Industrial and Enterprise Systems Engineering, University of Illinois at Urbana-Champaign, Urbana IL 61801, USA
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Published Online: 2013-12-27 | DOI: https://doi.org/10.2478/pjbr-2013-0017

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.

Keywords: haptic device; embedded systems; electromechanical systems

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About the article

Published Online: 2013-12-27

Published in Print: 2013-12-27


Citation Information: Paladyn, Journal of Behavioral Robotics, ISSN (Print) 2081-4836, DOI: https://doi.org/10.2478/pjbr-2013-0017.

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