Flexible FPGA-based controller architecture for five-fingered dexterous robot hand with effective impedance control

Abstract

Abstract-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 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.

FPGA-based architecture for direct visual control robotic systems

“…In this last case, the algorithms are partitioned into a linear portion, which is implemented in an FPGA, and a nonlinear portion, which is implemented in a DSP. For example, [9] presents an FPGA-based control system to achieve ideal hardware architecture for impedance control of a robot hand. The work presented in [10] describes an FPGAbased control architecture that can be easily applied to any robot.…”

FPGA-based framework for dynamic visual servoing of robot manipulators

“…In this last case, the algorithms are partitioned into a linear portion, which is implemented in a FPGA, and the nonlinear portion, which is implemented in a DSP. For example, in [10] an FPGA-based control system to achieve ideal hardware architecture for impedance control of a robot hand is presented. In [11] a robot control architecture, which c a n b e e a s i l y a p p l i e d t o a n y r o b o t , i s d e s c r i b e d , a n d t h e controllers are implemented within an FPGA.…”

3R Plane Robot Impedance Control Based on Fuzzy PD Controller

“…The impedance control algorithm which adjusts the mechanical impedance to achieve the requirements of force and position control based on the dynamic relationship between force and position/speed is raised by Hogan in 1985 [3,4]. Impedance control is summarized by Maples as the force control that the force feedback signal is converted to the position and velocity correction is called the impedance control [5].…”