Under-actuated dexterous manual control system based on DSP and FPGA

A control system and dexterous hand technology, applied in the field of machinery, can solve problems such as energy dissipation and unstable system operation, and achieve the effects of rapid response, human-machine friendliness and high reliability

Inactive Publication Date: 2017-06-20
姚秋丽
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  • Abstract
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Problems solved by technology

In the past, the dexterous hand control system designed based on the principle of underactuation has certain limitations

Method used

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  • Under-actuated dexterous manual control system based on DSP and FPGA
  • Under-actuated dexterous manual control system based on DSP and FPGA
  • Under-actuated dexterous manual control system based on DSP and FPGA

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with drawings and embodiments.

[0020] like figure 1 , the control system adopts a compound hierarchical control architecture combining master-slave control and autonomous control. The whole system consists of three layers, which are the upper computer terminal decision-making layer, the multi-finger coordinated motion layer and the bottom control layer. The upper computer terminal decision-making layer communicates interactively with the multi-finger coordination movement layer through the USB bus, and obtains information such as the collected dexterous hand movement and sensor signals in real time. Planning and automatic adjustment of hand trajectory. The multi-finger coordination movement layer is responsible for the overall collaborative work and information feedback. The bottom control layer is mainly aimed at the motion control of passive joints and the collection of finger pressure informatio...

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Abstract

An underactuated dexterous hand control system based on DSP and FPGA adopts a composite hierarchical control architecture combining master-slave control and autonomous control. The whole system consists of three layers, which are the upper computer terminal decision-making layer, Multi-finger coordinates the motion layer and the underlying control layer. The system makes full use of the processor performance and peripheral resources, the software adopts the idea of ​​modularization, and the approximate optimal grasping planning problem applies the genetic algorithm, which reduces the complexity of the system and effectively improves the movement efficiency of the dexterous knuckles. The control system has the advantages of rapid response, stable performance, high reliability, man-machine friendliness and reduced complexity, which can enable the underactuated dexterous hand to effectively complete the envelope grasping of different objects.

Description

technical field [0001] The invention relates to an underactuated dexterous hand control system based on DSP and FPGA, which is suitable for the mechanical field. Background technique [0002] The underactuated multi-fingered dexterous hand is a typical new type of humanoid hand. It adopts the principle of underactuated in the structural design, so that the number of driving units is less than the number of degrees of freedom of the mechanism. Simple, relatively easy to control, small in size, light in weight and other advantages, and this type of robot hand is flexible in operation, strong in self-adaptation ability, can completely envelop the grasped object, and has good grasping performance. At present, many underactuated dexterous hands with different structures and functions have been widely used in prosthetics for the disabled, aerospace and other related fields, and have good application prospects. [0003] In order to ensure the motion characteristics and functional ...

Claims

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Application Information

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IPC IPC(8): B25J9/18B25J13/08
Inventor 姚秋丽
Owner 姚秋丽
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