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The Real-time Controller Design Of Dexterous Hand With EtherCAT Port

Posted on:2021-03-16Degree:MasterType:Thesis
Country:ChinaCandidate:B X TuFull Text:PDF
GTID:2392330614450200Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
HIT/DLR ? dexterous hand is the end effector of robot astronauts,which can replace astronauts to perform tasks in unstructured environment.The existing HIT/DLR ? dexterous hand platform adopts hierarchical hardware structure.The main controller is located on PCI board.The whole dexterous hand system is relatively large and the controller cannot be integrated into the mechanical structure of the dexterous hand.Under the existing HIT/DLR ? platform,this project further simplifies the hardware structure of the dexterous hand and integrates the real-time controller into the hand palm.On this basis,a new host communication interface is designed and Ether CAT protocol is used,which greatly improves the platform portability of dexterous hand.Firstly,the hardware structure of the palm-based control platform is designed.Before,the FPGA of palm circuit board could not meet the control requirements.The new palm control platform uses Cyclone V So C FPGA.Based on So C FPGA,DDR3 memory module,Ether CAT communication module and power supply system are designed.In addition,the palm circuit board also retains LVDS circuit for finger communication.The internal circuit of So C FPGA is designed,including HPS and PPSe Co communication modules.The layout of palm PCB is completed and the signal integrity of DDR3 module is verified.Then the software design based on palm control platform is completed.The hardware composition of LAN9252 slave dedicated chip and the program structure of slave code are analyzed.The object dictionary of Ether CAT communication is designed and the slave station code is generated by SSC tool.The So C FPGA embedded software development process is analyzed,and the bare metal program of palm controller is completed.Using So C EDS development kit,the Preloader boot program was generated.Through DS-5 software,HWLIB and IP core address header file are used to complete the integration of PCI board controller program and slave station code and the transplantation on So C FPGA.The communication experiments of the master station and fingers are designed to verify the correctness of the palm software and hardware design.Finally,a HIT/DLR hand ? single finger force compliance controller is designed and verified by simulation on MATLAB Simulink.The output of the torque sensor is used to compensate the nonlinear dynamic term of the finger.Based on this,an impedance controller in Cartesian space is designed.In order to realize the force tracking effect,the variable stiffness control algorithm is used to estimate the target stiffness online,and the updating law of the target stiffness is designed by Lyapunov's second theorem.The verification of the force compliance controller is completed.The results of simulation show that the proposed algorithm can realize force control.Finally,the effects of initial target stiffness,different controller coefficient and parameter a on the force controller are compared through simulation.
Keywords/Search Tags:HIT/DLR hand ?, SoC FPGA SoM, EtherCAT slave station, variable stiffness force tracking control
PDF Full Text Request
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