Servo system for dexterous hand and fault detection and control protection method thereof

Abstract

The invention relates to a servo system for a dexterous hand and a fault detection and control protection method thereof. An FPGA main control unit carries out control and fault protection in the servo system for the dexterous hand according to a data design algorithm; a parameter detection module is used for detecting the servo state of the dexterous hand; a fault detection module is used for detecting and pre-judging faults of the servo system; a driving control module serves as an action control module of each degree of freedom, and the number of driving units is increased according to different degrees of freedom of the dexterous hand; a protection control module controls and processes each fault according to detection data provided by the fault detection module so as to protect the whole system, so that the reliability and the safety performance of the servo system are improved; a motor assembly performs corresponding actions according to motion instructions of the driving control module and the protection control module, so that the dexterous hand of a robot can be controlled and protected according to requirements; and a data storage module stores detection parameters and detection states of the servo system and stores various control methods and protection methods of the main control unit.

Description

technical field [0001] The design relates to a dexterous hand servo system and the field of fault detection, control and protection, in particular to a dexterous hand servo system and its fault detection, control and protection method. Background technique [0002] With the rapid development of robot technology, its application fields are expanding day by day. Among them, the executive parts of the robot have a very close relationship with the working environment. As an end effector, the dexterous hand affects the intelligence of the robot and the improvement of the operating level. Therefore, the humanoid dexterous hand with multiple joints has become the field of robotics. one of the research hotspots. Servo motor refers to the engine that controls the operation of mechanical components in the servo system, and is an auxiliary motor indirect speed change device. It can control the speed and position accuracy very accurately, and can convert the voltage signal into torque...

AI Technical Summary

Problems solved by technology

The dexterous hand servo system is a multi-degree-of-freedom joint control system with complex structure and complex control. At the same time, the detection and protection control methods are more complicated. The control failure of the robot leads to the failure of the normal completion of the task, making the movement of the robot malfunction and unstable.

[0003] The traditional servo system only controls and detects one-to-one. It cannot detect with multiple degrees of freedom and perform control and protection. At the same time, the detection method is single, the detection procedure is complicated, there is no reliable and convenient detection method, and the detection results are not accurate. It is hindsight, without pre-judgment, unable to diagnose the fault in advance and prevent the occurrence of the fault, which makes the system behave abnormally when a fault occurs

At the same time, there is no good solution for the detection and protection of dexterous hands such as formulation, limit, communication, control and other faults

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