Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE credits
The Novint Falcon is a low cost, 3-axis, haptic device primarily designed and
built for the gaming industry. Meant to replace the conventional mouse, the
Novint Falcon has sub- millimeter accuracy and is capable of real time updates.
The device itself has the potential to be used in telerobotics applications when
coupled with a robotic gripper for example. Recently, the Intelligent Control
Lab at Örebro University in Sweden built such a robotic gripper. The robotic
gripper has three fingers and an additional w-axis which is able to move two of
the fingers into alternate positions. Four motors control the movement of each
The purpose of this thesis is to integrate the afore mentioned devices in such
a way that the Novint Falcon will control the robotic gripper movements. As
the user moves the Novint Falcon handle in, the robotic gripper fingers will
match this movement and close. Grasp and Home Position sub-routines will be
implemented to showcase the buttons found on the Novint Falcon handle.
The entire control system consists of a user friendly graphical user interface
(GUI), an initialization procedure for both devices and workspace matching
functions to ensure that any movement in the Novint Falcon is mirrored in the
robotic gripper. The robotic gripper is controlled by a Galil motion controller.
Experiments with haptic feedback have been carried out with Squirrel scripting
and in C++. The GUI has been written using OpenGL and OpenGLUT resulting
in a simple, yet informative user GUI. The robotic gripper experiments have
been carried out by using Galil Tools Lite, C++ and the Galil programming language.
All experiments have led to a robust and stable control system which allows
the Novint Falcon to control all movements available on the robotic gripper,
paving the way for future telerobotic applications.
2011. , 97 p.