三指灵巧手主从控制系统的搭建与实现  

Construction and Implementation of the Master-slave Control System of a Three-finger Dexterous Hand

作　　者：冒娟娟[1] 孙志峻[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械与电子》2010年第10期55-58,共4页Machinery & Electronics

摘　　要：设计了三指灵巧手的主从控制系统,主手运动信息通过外围电路采样送入核心控制器TMS320F2812DSP,采用PID控制算法实现对从手各个关节的位置反馈控制,使从手(灵巧手)跟随人手运动.从手的位置由主从手指尖位置的映射关系决定.操作者佩戴合适的主手装置,可实现从手的多种动作.A master-slave control system of a three-finger dexterous hand is dsigned.The motion information of the master hand is transmitted to TMS320F2812DSP via the peripheral circuit.The position servo control is realized by PID control to make the slave hand follow the movement of the master hand.The position of the slave hand is determined by the mapping relation of master and slave hand.The operator wearing the master hand can control the slave hand to do many kinds of actions.

关 键 词：三指灵巧手 主从控制 TMS320F2812DSP PID 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]