Real-Time Control and Parameters Identification Using the Novint Falcon Parallel Robot As Experimental Platform

Resumen: The Novint Falcon parallel robot is an inexpensive robot created originally for the videogaming industry. Its closed kinematic structure allows to recreate a wide range of forces which the serial structure robots counterparts cannot, making it suitable for haptic applications where the principal task is to reproduce a resultant force in its end eector with the aim to recreate tactil sensations from virtual objects. Nevertheless, the experimental use of this mechanism from the linear and non-linear control theory approach has been little exploited. This work explores the Novint Falcon robot capabilities as an easily accessible control research platform by implementing two control algorithms and comparing its performance.

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Iván Torres-Rodríguez, José Daniel Castro-Díaz & Marco A. Arteaga-Pérez. Real-Time Control and Parameters Identification Using the Novint Falcon Parallel Robot As Experimental Platform. Memorias del Congreso Nacional de Control Automático, pp. 182-188, 2018.

Palabras clave

Parallel robot, PID control, adaptive control, performance comparison

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