Characterisation of the Novint Falcon Haptic Device for Application as a Robot Manipulator
Characterisation of the Novint Falcon Haptic Device for Application as a Robot Manipulator
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发表时间：
2009
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通讯作者：
Steven Martin;Nick Hillier;Csiro Ict
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作者：
Steven Martin;Nick Hillier;Csiro Ict
猎鹰是Novint为游戏行业制造的一款相对便宜的三自由度触觉设备。该控制器采用了一种类似于Delta机器人拥塞的形式，并且由于这种形式，使得该控制器成为研究涉及并联机构的机器人的控制和估计问题的一个有趣的装置。本文介绍了CSIRO自主系统实验室在表征猎鹰的几何、惯性和驱动特性方面的工作结果，以应用于未来基于模型的机器人算法开发。对评估猎鹰作为一个易于访问的研究平台执行这些任务的适宜性提出了一些意见。本文的目的是介绍该装置的关键运动学和动力学参数。
The Falcon is a relatively inexpensive 3-DOF haptic device made by Novint for the gaming industry. The controller uses a form similar to that of the delta-robot conguration and because of this form, makes an interesting apparatus for research into control and estimation problems for robots involving parallel linkages. This paper presents the results of work conducted by the Autonomous Systems Lab at CSIRO in characterising the Falcon’s geometric, inertial and actuation properties for application to future model-based robotic algorithm development. Some comments are made towards assessing the Falcon’s suitability as an easily accessible research platform for these tasks. The aim of the paper is the presentation of the key kinematic and dynamic parameters for the device.