基于DSP的多轴伺服控制器设计及其在灵巧手中的应用  

The Design of a DSP Based Controller with the Application in Dexterous Hands

作　　者：韩壮志[1] 王田苗[1] 张玉茹[1] 尚喜生[1] 刘敬猛[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《高技术通讯》2002年第3期70-74,共5页Chinese High Technology Letters

基　　金：自然科学基金 ( 5 9985 0 0 1)资助项目

摘　　要：讨论了一种采用电机控制专用DSP及FPGA设计的 9轴电机伺服运动控制器。与采用通用DSP设计的多轴电机伺服运动控制器相比 ,该控制器具有较高的集成度和优良的性能价格比 ,便于降低机电系统的成本 ,减小机电系统体积。试验表明 ,该控制器性能稳定可靠 ,可满足多轴电机伺服运动控制的需要 ,已成功应用于 16自由度多指灵巧手控制系统设计。该运动控制器在各类型机器人系统 。This paper presents a 9-axis controller developed for high performance at low cost. The core of the controller is a DSP (Digital Signal Processor) specially developed for motor control. By fully utilizing the wealthy peripherals and high-speed calculation capability of the DSP, the controller offers a higher ratio of performance to price than other controllers based on general purpose DSPs. The technology of FPGA (Field Programmable Gate Array) is applied in the design to make the controller reliable and compact. The performance of the controller has been proven by a successful application to the control system of a four-fingered robot hand with 16 degrees of freedom.

关 键 词：电机伺服控制器 灵巧手 机器人控制器 DSP 控制 多轴伺服控制器 机电系统 

分 类 号：TM921.543[电气工程—电力电子与电力传动]