Research Of Drive And Control On Single Finger Of The HIT/DLRII Dextrous Hand

Drive and control is one of the important research aspects of dextrous robot hands, which plays a key role in improving the levels of intelligence and manipulation. This thesis will develop a dirve and control system on finger of the HIT/DLRII dextrous hand, which is a very important part of the total system.This article is to improve HIT/DLR hand, which is developed by both HIT ROBOTIC LAB and DLR LAB. According to the requirements of the HIT/DLRII dextrous hand, a drive and control system based on FPGA has been designed.Firstly, this article generally describes the fundamental structure and basic functions of each subsystem in the finger of the HIT/DLRII hand. They are the mechanical system designed on the basis of modularization, the sensory system for acquiring the finger position and torque information, the electrical system based on FPGA and DSP.In the hardware circuit design, it discusses the electrical system of the base joint cell in details. Based on the principle of faster response and lower dissipation, it analyses the predigested module of the drive circuit, and chooses appropriate parameter for the circuit. The drive circuit works well, which is proved by both simulation and experiments. At the same time, it introduces the data communication system between base joint cell and PC control system or between base joint cell and knuckle cell respectively. Applying the most integrated hall-sensor component, position sensor circuit becomes more simple and compact.To realize the programmable function of the FPGA, a SOPC module system of the base joint cell has been designed. It contains IP core design, software to collect sensor information, software to communicate with other peripheral equipments, software to control and system synthesis.In the last part of this thesis, closed loop experiments, which is based on PD control strategy, have been made to verify tracking performance of the base joint cell.