基于DSP的假手多轴运动控制系统研究  

Based on DSP Multi-axis Motion Controller for a Prosthetic Hand

作　　者：倪媛[1] 姜力[1] 张千帆[1] 黄海 程树康[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《微电机》2006年第5期65-68,共4页Micromotors

基　　金：国家自然科学基金(60275032)(50435040);国家863计划项目(2003AA420010)

摘　　要：为了完善缺损上肢人的假手使用功能,设计了基于数字信号处理器(DSP)的假手多轴运动控制硬件系统,实现了假手本体与电气系统的集成。该系统将DSP快速的数据处理能力和可编程逻辑器件(CPLD)逻辑功能相结合,并采用在线可编程技术实现了3个电机的伺服控制。整个硬件系统具有结构灵活紧凑、开发时间短、集成度高、可靠性好的特点。This paper presents a hardware design of a multi-axis motion controller based on the digital signal processor （DSP）, which implements the integration of the mechanical structure and electronic system in the prosthetic hand. The servo control of three motors is realized by the DSP and complex programmable logic device （CPLD） with in system programmable technology. Due to their combined features of both high-speed performance and powerful logic function, the system is characterized by its flexible and compact structure, short development period and high reliability and integration, which is one of the most essential aspects in the prosthetic hand.

关 键 词：直流电动机 假手 DSP CPLD 多轴运动控制 

分 类 号：TM381[电气工程—电机]