Manav Kataria's Blog

Posts tagged “Tutorial

Tutorial – Using Novint Falcon with Matlab

Important: Hello Everyone, unfortunately I neither have the time nor the Haptic devices to support / respond to “help” comments on this page any longer. But I am glad to see people helping each other out; so feel free to continue doing that via this page / forum / comments and make Haptics a better technology! All the best!
-Manav

This tutorial will take you through the following:
  1. Installing Falcon Drivers and Haptik Library
  2. Configuring Haptik Library to use Falcon
  3. Running Example programs with Haptik Library
Tutorial Change Log:
  • September 2012: Newer versions of Haptik Library released (1.2RC). DLLs from previous versions (1.1RC) now deprecated. See this comment.
  • October 2010: Incompatibility with Version 4.x driver.
  • November 2009: First Release.

NOTE: This tutorial has been tested with Haptik Library 1.1RC in 2009. More recent version of the library (1.2, released Feb 2012) are available now. This tutorial should be used as a guideline and is neither tested nor guaranteed to work with the latest version.

Installing Falcon Drivers and Haptik Library

Haptik library allows you to use the Falcon with Matlab.
  1. Download the Haptik Library 1.1RC and Falcon Plugin from the Haptik Library website:
    http://sirslab.dii.unisi.it/haptiklibrary/download.htm
  2. Haptik Library is compatible with 3.1.4 version and above (Update: It doesn’t seem to work with Version 4.x) of Novint Falcon Driver. Download & Install it.
    Novint’s website:
    http://home.novint.com/support/download.php
    http://home.iitb.ac.in/~kataria/media/setup.Falcon.v3.1.4.a_090407.exe
Haptik Library Homepage:

Configuring Haptik Library to use Falcon

  • Once done with the installation of the above, try runing sample programs provided with Haptik Libary on Matlab.
    C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\Matlab
  • You will Haptik Library throwing an error: Haptik.Config.txt unavailable.
To fix this you will need to install ‘Haptik.Falcon.dll’ plugin and update the ‘Haptik.config.txt’ for falcon to work with Haptik:
  1. Copy Haptik.Falcon.dll to
    C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\RSLib\Bin
  2. Update the config file:
    C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\Matlab\Haptik.Config.txtChange the line:
    HaptikLibrary.plugin4_0 = Haptik.Spectre.dll    to
    HaptikLibrary.plugin4_0 = Haptik.Falcon.dll
  3. Relocate(or copy) the config file the application working directory.
    Application working directory is given by:
    >> pwd
    ans =
    C:\MATLAB7\work

Running Example programs with Haptik Library

Lets try Matlab examples again,
  1. Viewing Available Haptik Devices:
    >> haptikdevice_list
    ans =
    [0]    ‘Falcon [0]’    ‘Falcon’    ‘Novint’
    >>Success! Matlab and Falcon can now talk!
  2. Run the horizontal_plane.m and play with it. You should be able to “feel” a horizontal plane.

Concluding Remarks

This completes the tutorial! You might want to explore horizontal_plane.m for better understanding of things. If you intend to use Matlab / Haptik for programming, I recommend make a vertical_plane.m to get started.

Hope this helps you get started!

Manav


Basic Python Workshop at IITB

A very neatly conducted workshop, driven by the open source initiative.

Basic Python [Slides]
Basic Python Exerciese Problems

Official Site with Videos and Downloads from the Workshop


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