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A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and...
In this paper, FPGA (field programmable gate array) based joint servo system for the HIT/DLR arm has been investigated. A new fully digitized hardware design scheme of a joint servo controller has been presented, which is verified and implemented on one-chip FPGA with embedded NIOS II processor. This scheme not only realizes all sensor data acquisition, SPWM generation and motor vector control, but...
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