Design and Implementation of Integrated Control and Drive System for Dexterous Hand Based on FPGA

Abstract

The control and drive system of humanoid dexterous hand is mainly a control and drive system with high integration, multi degree of freedom and multi joint cooperation. However, the existing control and drive systems are mainly single motor driven, with low integration and poor coordination ability. Multi motor control and drive system has the characteristics of complexity, difference and mutual disturbance. At present, the control and drive system based on MCU and DSP can not meet the requirements of multi motor system control. Therefore, in order to meet the demand of multi degree of freedom integrated control and drive for dexterous hand, this paper designs an integrated control and drive system for dexterous hand based on FPGA. The system includes encoder reading module, current reading module, vector control module, PWM generator module and communication module, which can realize the position closed-loop control of N PMSM at the same time. This system has the characteristics of good stability, high cooperation ability, low equipment cost, small volume and good heat dissipation. Through experiments, it is verified that the design of the system is feasible, the collaborative ability is strong, and the control performance is stable.