Design and simulation of a DSP controller for a LARM Hand

To fulfil the principle of low-cost and easy operation features, a new control scheme is proposed for the LARM Hand in this paper. The new controller is composed of a high level PC-based control panel and a low level DSP control card and the two parts communicate with each other through RS-232. The...

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Bibliographic Details
Main Authors: Yao Cai, Qiang Zhan, Ceccarelli, Marco, Carbone, Giuseppe, Shuangji Yao, Zhen Lu
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
Circuits
DC motors
Digital signal processing
DSP Controller
Force control
LARM Hand
Motion control
Position control
Prototypes
Robotics and automation
Robots
Online Access:Request full text
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Summary:To fulfil the principle of low-cost and easy operation features, a new control scheme is proposed for the LARM Hand in this paper. The new controller is composed of a high level PC-based control panel and a low level DSP control card and the two parts communicate with each other through RS-232. The PC-based control panel is software with which an operator can input control parameters, and additionally the operator can observe the changes of the force values and velocities of three motors in real time. The DSP controller is mainly used to control the motion of three motors by PWM signals as based on position control and force control. A position control method based on PID controller and a force control method based on PD controller both have been proposed in this paper. Simulations based on a simplified model are also carried out for these two methods.
ISSN:1948-3414
1948-3422
DOI:10.1109/CAR.2010.5456824