DSP&FPGA-based joint impedance controller for DLR/HIT II dexterous robot hand

Abstract

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 position measuring. The experimental results of joint impedance control show that proposed strategy not only improves the effectiveness of contact task performance, but also provides compliant interaction of robot hand with a person, thus enables robot hand to work in different environments.