摘要
为开发高度集成的五指机器人灵巧手,提出了采用DSP(Digital Signal Processor)+FPGA(Field Programmable Gate Array)控制结构的模块化嵌入式手指控制系统设计方法。实现了采用单电流传感器检测全桥控制下相电流及相电流过流双保护。为解决手指DSP和FPGA之间如何稳定、高效通信的难题,结合先进先出FIFO(First In First Out)寄存器,设计了基于串行通信接口SCI(Serial Communications Interface)和RS485总线的多中断差分通信系统。实验证明,这种DSP+FPGA控制结构及模块化的设计,使得手指控制部分得以高度集成,同时DLR/HITII灵巧手获得很好的整体性能和稳定性。
To develop highly integrated 5-finger dexterous robot hand,a design scheme of modularized and embedded finger control system is proposed that uses Digital Signal Processor（DSP）and Field Programmable Gate Array（FPGA）control structure.A single current sensor is used to detect phase current on full-bridge modulation and detect overcurrent protection of phase current.To obtain stable and efficient communication between finger DSP and FPGA,using First in First out（FIFO）registers a multi-interrupt differential communication system is designed,which is based on Serial Communications Interface（SCI）and RS485 bus.Experiment results show that the finger controller can be highly integrated by the DSP＋FPGA control structure and modularized design,and the whole working performance of the DLR/HIT II dexterous hand is excellent and reliable.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2010年第2期517-522,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
'863'国家高技术研究发展计划项目(2006AA04Z255)
