摘要
基于步进电动机专用驱动和控制芯片,并结合DSP设计了仿人型机器人手的控制系统。介绍了系统构成及原理,系统结构简单,集成度高。给出了控制系统的硬件实现和手指阻抗力矩控制器的设计。实验结果显示系统工作稳定可靠。
Based on stepping motor dedicated chip and DSP, an anthropomorphic hand control system was developed. The structure and principle of the system were introduced. The advantages of the system were simple and highly integrated. It also gave the hardware of the control system and the design of the fingers impedance torque controller. The experiment resuits showed that the system was steady and reliably.
出处
《微特电机》
北大核心
2007年第11期29-31,59,共4页
Small & Special Electrical Machines
基金
国家自然科学新一代仿人型残疾人假手及其理论的研究(50435040)
关键词
步进电动机
控制系统
专用芯片
仿人手
stepping motor
control system
dedicated chip
anthropomorphic hand
