新型柔性灵巧手的控制系统研究  

Research on the Control System of a Novel Flexible Dexterous Hand

作　　者：战强[1] 马健[1] 薛阳[1] 

机构地区：[1]北京航空航天大学,北京100083

出　　处：《微特电机》2008年第4期35-37,共3页Small & Special Electrical Machines

摘　　要：BHG-1型灵巧手是一种新型全驱动三指柔性灵巧手,其控制系统主要由上位PC机和下位嵌入式控制器组成,通过RS-232进行相互通讯。编写了上位PC机控制界面,实现控制参数的输入、调节和传感器信息的实时反馈。采用TMS320LF2407A设计了灵巧手的嵌入式控制器,并对硬件电路的各个模块作了详细的介绍。对驱动灵巧手的直流伺服电动机进行速度和位置的PID控制,提高了灵巧手的抓取性能。试验证明该系统能可靠运行并达到预期的目标。BHG - 1 is a novel full - driven flexible dexterous hand with three fingers, its control system comprises of a host computer and a slave embedded controller, which two communicate via RS -232. The display and control interface of the host computer was written to realize the input and adjustment of the controlling parameters and real - time feedback of the sensors. Slave controller was designed with TMS320LF2407A and an introduction of all circuit modules was given. PID control method was used to control the DC servo motor so as to improve its grasping capability. Experiments showed that the control system was stable and reliable.

关 键 词：灵巧手 DSP 直流伺服电动机 PID 

分 类 号：TM383.41[电气工程—电机]