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Haptic Control with a Robotic Gripper
Örebro University, School of Science and Technology.
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

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

respective axis.

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.

Place, publisher, year, edition, pages
2011. , 97 p.
National Category
Engineering and Technology
URN: urn:nbn:se:oru:diva-16046ISRN: ORU-NAT/DAT-AS-2011/1--SEOAI: diva2:425820
Subject / course
Computer Engineering
Available from: 2011-06-22 Created: 2011-06-21 Last updated: 2011-09-16

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