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.…”

A μP-μC-FPGA Synergy Controller for a Linear Delta Robot

“…Furthermore, FPGA can be configured to become the µP so the integrated µP and electronics can be constructed in a single FPGA chip. A FPGA based controller [6,7,8] (Fig. 1b) has been introduced to reduce the cost and also give the flexibility to the controller design.…”