DSP/FPGA-based controller architecture for flexible joint robot with enhanced impedance performance

作者：Huang J B^*; Xie Z W; Liu H; Sun K; Liu Y C; Jiang Z N

来源：Journal of Intelligent & Robotic Systems, 2008, 53(3): 247-261.

DOI：10.1007/s10846-008-9240-7

• impedance control
• DSP
• FPGA
• M-LVDS serial data bus
• torque ripple
• flexible joint

Some practical issues associated with enhancing the Cartesian impedance performance of flexible joint manipulator are investigated. A digital signal processing/field programmable gate array (DSP/FPGA) structure is proposed to realize the singular perturbation based impedance controller. To increase the bandwidth of torque control and minimize the joint torque ripple, boundary layer system and field-oriented control (FOC) are fully implemented in a FPGA of each joint. The kernel of the hardware system is a peripheral component interface (PCI)-based high speed floating-point DSP for the Cartesian level control, and FPGA for high speed (200 us cycle time) multipoint low-voltage differential signaling (M-LVDS) serial data bus communication between robot Cartesian level and joint level. Experimental results with a four-degree-of-freedom flexible-joint manipulator under constrained-motion task, demonstrate that the controller architecture can enhance the robot impedance performance effectively.

• 出版日期2008-11
• 单位哈尔滨工业大学