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
Presented is a scheme of an embedded video remote monitoring system based on TMS320DM642. Using DM642 as the data processing core, the remote monitoring system is composed of video acquisition module, video processing...Presented is a scheme of an embedded video remote monitoring system based on TMS320DM642. Using DM642 as the data processing core, the remote monitoring system is composed of video acquisition module, video processing module and communication module, which gives an implementation of class/mini driver module in DSP/BIOS integrated developing environment and also a common task module in application layer is achieved. The system realizes the entire functions of the analog video signal acquisition, H.264 video coding and Internet transmission. It provides the general connection for the future development and has good flexibility and extendibility. The system uses a modular design and overall development of programming methods to improve the efficiency of system development.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.
基金National Natural Science Foundation of China(40274047)
文摘Presented is a scheme of an embedded video remote monitoring system based on TMS320DM642. Using DM642 as the data processing core, the remote monitoring system is composed of video acquisition module, video processing module and communication module, which gives an implementation of class/mini driver module in DSP/BIOS integrated developing environment and also a common task module in application layer is achieved. The system realizes the entire functions of the analog video signal acquisition, H.264 video coding and Internet transmission. It provides the general connection for the future development and has good flexibility and extendibility. The system uses a modular design and overall development of programming methods to improve the efficiency of system development.
