Abstract:

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.

Key words: automatic control technology, dexterous robot hand, DSP+FPGA control structure, phase current detection, multiinterrupt communication system, multisensor