@inproceedings{d283965b96a642b8b289169d6e389225,
title = "Design and simulation of a DSP controller for a LARM hand",
abstract = "To fulfil the principle of low-cost and easy operation features, a new contro1l scheme is proposed for the LARM Hand in this paper. The new controller is composed of a high level PC-based control panel and a low level DSP control card and the two parts communicate with each other through RS-232. The PC-based control panel is software with which an operator can input control parameters, and additionally the operator can observe the changes of the force values and velocities of three motors in real time. The DSP controller is mainly used to control the motion of three motors by PWM signals as based on position control and force control. A position control method based on PID controller and a force control method based on PD controller both have been proposed in this paper. Simulations based on a simplified model are also carried out for these two methods.",
keywords = "DSP controller, Force control, LARM hand, Position control",
author = "Yao Cai and Qiang Zhan and Marco Ceccarelli and Giuseppe Carbone and Shuangji Yao and Zhen Lu",
year = "2010",
doi = "10.1109/CAR.2010.5456824",
language = "英语",
isbn = "9781424451937",
series = "CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics",
pages = "361--364",
booktitle = "CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics",
note = "2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics, CAR 2010 ; Conference date: 06-03-2010 Through 07-03-2010",
}