Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture based controller, one of which is used for data communication control and the other for joint and object level control. High speed (200μs cycle time) multipoint low-voltage differential signaling (LVDS) serial data bus communication between each finger and the controller, Ethernet communication between monitor PC and controller, are all implemented on a single FPGA chip. Experimental results and simulation with a five-fingered dexterous robot hand demonstrate that the controller architecture is able to achieve the desired robot hand impedance control performance and effective stable grasping.


    Access

    Download


    Export, share and cite



    Title :

    Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control


    Contributors:
    Chen, Zhaopeng (author) / Lii, Neal Y. (author) / Wu, Ke (author) / Liu, Hong (author) / Xue, Zhixing (author) / Jin, Minghe (author) / Liu, Yiwei (author) / Fan, Shaowei (author) / Lan, Tian (author)

    Conference:

    2009 ; Guilin, China


    Publication date :

    2009-12-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





    Cartesian Impedance Control on Five-Finger Dexterous Robot Hand DLR-HIT II with Flexible Joint

    Chen, Zhaopeng / Lii, Neal Y. / Jin, Minghe et al. | German Aerospace Center (DLR) | 2010

    Free access

    Intelligent Multi-fingered Dexterous Hand Using Virtual Reality (VR) and Robot Operating System (ROS)

    Suresh, Aswath / Gaba, Dhruv / Bhambri, Siddhant et al. | TIBKAT | 2019


    Three-Fingered Robot Hand

    Ruoff, C. F. / Salisbury, J. K. | NTRS | 1984


    Experimental Study on Impedance Control for the Five-Finger Dexterous Robot Hand DLR-HIT II

    Chen, Zhaopeng / Lii, Neal Y. / Wimböck, Thomas et al. | German Aerospace Center (DLR) | 2010

    Free access