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Recent new technologies, such as HK/MG, multi-patterning, 3D-IC, FinFET and SADP/SAQP, etc. have significant impacts to designs and architectures. Xilinx has been aware of these impacts, and actively improving its FPGA designs and architectures, in order to take the benefits of these technologies while avoiding negative impacts. Several examples will be provided in this article.
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...
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...
This paper presents a new developed multisensory five-fingered dexterous robot hand: the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drivers and BGA form DSPs and FPGAs,...
This paper proposes hardware solutions to the computation for the trigonometric and square root functions of inverse kinematics. They are based on an existing pipeline arithmetic which employs the CORDIC(Coordinate Rotation Digital Computer) algorithm. This integrated approach enhances computational efficiency by reducing the duplicate calculations of this functions and maximizing the parallel/pipelining...
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...
In this paper, joint reliability design for the Chinese space robotic arm has been discussed. Redundant controller unit, redundant can bus communication unit and latch-up power protection unit have been outlined. The fault tree of the joint has been built. Moreover, the new algorithm of auto-adjust thresholding value has been presented for fault detection, and the fault-tolerant strategies of joint...
In this paper, we developed a performance-enhanced, stand-alone dexterous robot hand with effective mechanical structure and lightweight control hardware. In the context, the paper shows the design methodology of HIT/DLR dexterous robot hand II controller using FPGA (field programmable gate array). Lower level controller is implemented in an FPGA and higher level controller is implemented in a DSP...
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