模块化嵌入式五指机器人灵巧手手指控制系统  

Modularized embedded finger control system for 5-finger dexterous robot hand

作　　者：兰天[1,2] 刘伊威[1] 陈养彬 金明河[1] 樊绍巍[1] 刘宏[1,3] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001 [2]宁波GQY视讯股份有限公司,上海201206 [3]德国宇航中心机器人与系统动力学研究所,德国慕尼黑82230

出　　处：《吉林大学学报（工学版）》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)

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.

关 键 词：自动控制技术 机器人灵巧手 DSP+FPGA控制结构 相电流检测 多中断通信系统 多传感器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]