Development Of The Virtual Assembing Data Glove Controller Based On DSP

A virtual assembling data glove controller was developed based on DSP (Digital Signal Processor). Methods of designing AD interface for sensors, preparing DA interface for proportioning valve to control the artificial muscle force, and building DO interface for relays of braking gas cells were researched in this dissertation. Experiments with angle measure and pressure controlling proved that good performance could be obtained.First, several typical data gloves'structural advantages and disadvantages were overviewed, the force-feedback data glove in HIT-SMC laboratory included. Then TMS320F2812 was chosen out to fit the requirements of the glove controller, after analyzing the characteristics and application area of all kinds of TI DSPs.Then, hardware and software designs were carried out for the controller. Fifty-eight channels of AD data acquisition were designed with McBSP for the angle and force sensors, with amplifiers and multiplexer for the signal preprocessing. SPI and multiplex sample hold devices were taken in for DA circuits to control the proportioning valves, with reverse isolation devices included. DO circuits for the delay board were built on multiplexing mechanism. To communicate with the upper monitor PC, RS232 and USB2.0 interfaces were applied. And thus, power for the DSP, reset circuit, logic level switch circuit, and Jtag simulation interface were also configured. CCS2 integrated develop environment was taken in for software development. C language and the ASM language were made complex use of for the main function, AD function module, DA function module, DO function module, RS232 communication module and also the force feedback control arithmetic program.Finally, experiments for angle sensor acquisition and pressure controlling were carried out. During the experiments, varies voltages from DA channel were output for controlling of the proportioning valves to simulate feel of touching. Several full cycles angle signals from the angle sensors were processed and the comparison of angle signal and the standard value showed that the controller could achieve AD input and DA output stably.