The Design Of Embedded System With Ethernet For Dexterous Hand

In order to improve the artificial intelligent and manipulative levels of robot system, the dextrous robot hand has become one of the most important research aspects in the robotics technology. The dissertation combines with the national advanced technique project, which is called"Research on new generation dextrous robot hand with five fingers and coordinated control", a control system of the dexterous robot hand, which is based on FPGA(Field Programmable Gate Array) and NIOSII dual-processor, has been designed in this dissertation. There are two separate NIOSII processors in this control system. One processing arithmetic, and the other is processing communication task. Finally the whole control system with real time OS, Ethernet and TCP/IP stack ,CAN and PPSeCo module is implemented in a single chip. With the Embedded control system, the new generation dexterous robot hand is not only more compact in structure, but also enhanced in performance and utility.The dissertation briefly describes the configuration of the embedded control system of robot hand in the first place, including the design of central control unit,communication system, and the hardware structure of the entire control system.The central control unit is based on NIOSII dual-processor, and an onchip dual-port RAM is utilized for the communication of two NIOSII processors. To ensure that the two processors can work efficiently together and won't conflict with each other, the hardware mutex is utilized to protect critical resources. By means of SOPC Builder tools, all modules are integrated together, and the software of control arithmetic is ported into this system.Ethernet is used in the communication between control system and host computer. For hardware, LAN91C111 is adopted as Ethernet controller, and FPGA as CPU; MicroC/OSII and NicheStack TCP/IP stack has been ported into the system, which combines with the application program to implement the ethernet network. Moreover, CAN and PPSeCo communication system have been designed and accomplished in the dissertation.In the last part of this dissertation, every single module of the control system has been tested. And then the joint position control has been experimented, the results of which verifies the validity of the system function.