DSP/FPGA-based Controller Architecture for Flexible Joint Robot with Enhanced Impedance Performance |
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Authors: | J B Huang Z W Xie H Liu K Sun Y C Liu Z N Jiang |
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Affiliation: | (1) Institute of Robotics, Harbin Institute of Technology, 150001 Harbin, People’s Republic of China;(2) Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany |
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Abstract: | 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. |
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Keywords: | Impedance control DSP FPGA M-LVDS serial data bus Torque ripple Flexible joint |
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