Control of Hapkit

OData support
Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The aim of the final project is to design a so called Hapkit device, which can be

controlled by LabVIEW via Arduino Uno board and used for simulating physics models

and regulation tasks.

The Hapkit device is controlled with a DC (direct current) motor, driven by

an H-bridge motor driver (L298), which is controlled by the Arduino Uno board with

PWM (Pulse Width Modulation) signal. The control of the system is implemented

in LabVIEW, which communicates via serial port with the Arduino board. The angle of

the DC motor shaft rotation is detected with the help of a rotating magnet mounted on the

end of the motor shaft and of a magnetoresistive sensor (KMA199). The PCB of the motor

shield, compatible with Arduino Uno board, is designed in EAGLE. It contains the

H-bridge and the required passive elements, the freewheeling diodes, the terminals for

the input and the output voltage and coloured LEDs denoting the direction of rotation.

The mechanical construction is designed in Autodesk Inventor by using the CAD files of

the original Hapkit device developed at the Stanford University. I modified the

mechanical construction to fit with my device and make the 3D printing easier.

A modified mechanical construction idea model can be found as a suggestion for

improving the device, but it is not implemented in this project. After the 3D printing the

Hapkit is assembled and ready to be programmed. In the laboratory several measurements

were carried out, which are detailed in this documentation. The final project contains two

main tasks: a simple regulation and a virtual wall model. The function of several VIs and

subVIs are explained regarding to the regulation task. An easy-to-use GUI (Graphical

User Interface) is implemented for changing some parameters.

In the end the results are collected, the suggestions are given for improving

the device, and the conclusions are drawn.


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