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Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control

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/
Document Type:Conference or Workshop Item (UNSPECIFIED)
Title:Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Chen, Zhaopengzhaopeng.chen (at) dlr.deUNSPECIFIED
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Wu, KeUNSPECIFIEDUNSPECIFIED
Liu, Honghong.liu (at) dlr.deUNSPECIFIED
Xue, Zhixingxue (at) fzi.deUNSPECIFIED
Jin, MingheUNSPECIFIEDUNSPECIFIED
Liu, YiweiUNSPECIFIEDUNSPECIFIED
Fan, ShaoweiUNSPECIFIEDUNSPECIFIED
Lan, TianUNSPECIFIEDUNSPECIFIED
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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