Chen, Zhaopeng and Lii, Neal Y. and Wu, Ke and Liu, Hong and Xue, Zhixing and Jin, Minghe and Liu, Yiwei and Fan, Shaowei and Lan, Tian (2009) Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control. IEEE. The 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009), 19-23, Dec 2009, Guilin, China.
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Abstract
Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture based controller, one of which is used for data communication control and the other for joint and object level control. High speed (200μs cycle time) multipoint low-voltage differential signaling (LVDS) serial data bus communication between each finger and the controller, Ethernet communication between monitor PC and controller, are all implemented on a single FPGA chip. Experimental results and simulation with a five-fingered dexterous robot hand demonstrate that the controller architecture is able to achieve the desired robot hand impedance control performance and effective stable grasping.
Item URL in elib: | https://elib.dlr.de/80491/ | ||||||||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (UNSPECIFIED) | ||||||||||||||||||||||||||||||
Title: | Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control | ||||||||||||||||||||||||||||||
Authors: |
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Date: | December 2009 | ||||||||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||||||||
Number of Pages: | 6 | ||||||||||||||||||||||||||||||
Publisher: | IEEE | ||||||||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||||||||
Keywords: | dexterous hand, FPGA, flexible communication system, impedance control, grasping | ||||||||||||||||||||||||||||||
Event Title: | The 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009) | ||||||||||||||||||||||||||||||
Event Location: | Guilin, China | ||||||||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||||||||
Event Dates: | 19-23, Dec 2009 | ||||||||||||||||||||||||||||||
Organizer: | IEEE | ||||||||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||||||||
HGF - Program Themes: | Space Technology | ||||||||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||||||||
DLR - Program: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||
DLR - Research theme (Project): | R - RMC - Mechatronik und Telerobotik (old) | ||||||||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) | ||||||||||||||||||||||||||||||
Deposited By: | Chen, Zhaopeng | ||||||||||||||||||||||||||||||
Deposited On: | 11 Jan 2013 14:40 | ||||||||||||||||||||||||||||||
Last Modified: | 31 Jul 2019 19:39 |
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