DSP/FPGA-based controller architecture for flexible joint robot with enhanced impedance performance

被引：31
|
作者：
Huang, J. B. [1 ]
Xie, Z. W. [1 ]
Liu, H. [1 ,2 ]
Sun, K. [1 ]
Liu, Y. C. [1 ]
Jiang, Z. N. [1 ]
机构：
[1] Harbin Inst Technol, Inst Robot, Harbin 150001, Peoples R China
[2] DLR, Inst Robot & Mechatron, Oberpfaffenhofen, Germany
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2008年 / 53卷 / 03期
基金：
国家高技术研究发展计划(863计划);
关键词：
impedance control; DSP; FPGA; M-LVDS serial data bus; torque ripple; flexible joint;
D O I：
10.1007/s10846-008-9240-7
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Some practical issues associated with enhancing the Cartesian impedance performance of flexible joint manipulator are investigated. A digital signal processing/field programmable gate array (DSP/FPGA) structure is proposed to realize the singular perturbation based impedance controller. To increase the bandwidth of torque control and minimize the joint torque ripple, boundary layer system and field-oriented control (FOC) are fully implemented in a FPGA of each joint. The kernel of the hardware system is a peripheral component interface (PCI)-based high speed floating-point DSP for the Cartesian level control, and FPGA for high speed (200 us cycle time) multipoint low-voltage differential signaling (M-LVDS) serial data bus communication between robot Cartesian level and joint level. Experimental results with a four-degree-of-freedom flexible-joint manipulator under constrained-motion task, demonstrate that the controller architecture can enhance the robot impedance performance effectively.
引用
收藏
页码：247 / 261
页数：15
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