A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level contro...A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.展开更多
The present paper deals with the development of a modular, flexible and structured block to block approach for the study of regulators by implementing the different blocks on a DSP （digital signal processor）. The pr...The present paper deals with the development of a modular, flexible and structured block to block approach for the study of regulators by implementing the different blocks on a DSP （digital signal processor）. The proposed low-cost approach has been applied and validated by the implementation of an industrial regulator in a real time hardware-in-the-loop simulation of a mixed islanded power network including precise models of the hydraulic system. The studied network is constituted of three different types of electrical power generation systems and a consumer.展开更多
Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a clas...Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a class-D amplifier. In this paper, the authors show that the bandwidth of PWM power amplifier can be controller. This controller is implemented on a DSP （digital can be made wider with this controller. extended by using an approximate 2DOF （2-degree-of-freedom） digital signal processor）. It is demonstrated from experiments that the bandwidth展开更多
文摘A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.
文摘The present paper deals with the development of a modular, flexible and structured block to block approach for the study of regulators by implementing the different blocks on a DSP （digital signal processor）. The proposed low-cost approach has been applied and validated by the implementation of an industrial regulator in a real time hardware-in-the-loop simulation of a mixed islanded power network including precise models of the hydraulic system. The studied network is constituted of three different types of electrical power generation systems and a consumer.
文摘Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a class-D amplifier. In this paper, the authors show that the bandwidth of PWM power amplifier can be controller. This controller is implemented on a DSP （digital can be made wider with this controller. extended by using an approximate 2DOF （2-degree-of-freedom） digital signal processor）. It is demonstrated from experiments that the bandwidth
