基于DSP的多轴伺服控制器设计及其在灵巧手中的应用

讨论了一种采用电机控制专用DSP及FPGA设计的9轴电机伺服运动控制器。与采用通用DSP设计的多轴电机伺服运动控制器相比，该控制器具有较高的集成度和优良的性能价格比，便于降低机电系统的成本，减小机电系统体积，试验表明，该控制器性能稳定可靠，可满足多轴电机伺服运动控制的需要，已成功应用于16自由度多指灵巧手控制系统设计，该运动控制器在各类型机器人系统，以及数控机床等的控制系统设计上有广泛的应用前景。

The Design of a DSP Based Controller with the Application in Dexterous Hands

This paper presents a 9-axis controller developed for high performance at low cost. The core of the controller is a DSP (Digital Signal Processor) specially developed for motor control. By fully utilizing the wealthy peripherals and high-speed calculation capability of the DSP, the controller offers a higher ratio of performance to price than other controllers based on general purpose DSPs. The technology of FPGA (Field Programmable Gate Array) is applied in the design to make the controller reliable and compact. The performance of the controller has been proven by a successful application to the control system of a four-fingered robot hand with 16 degrees of freedom.