Title :
A kind of embedded control system according to the humanoid robot hand
Author :
Song, Jinze ; Liu, Hui ; Ma, Hongxu
Author_Institution :
Dept. of Mechtronic & Autom., Nation Univ. of Defense Technol., Changsha, China
Abstract :
In this paper, we put foreword a kind of embedded control system according to the humanoid robot hand based on AT89C2051, from bionics, and designed a kind of construction according to the humanoid robot hand. Then expatriated how to realize five independent adjustable signals of PWM based on a block of 3×5 cm controlling circuit using 89C2051. We have realized that the movement speed is adjustable, the least response time is T<0.012 ms, and the electromotor least movement scope is 1 degree. We can save 200 action data that have programmed in the controller or controlled by serial communication.
Keywords :
biocybernetics; control system synthesis; dexterous manipulators; embedded systems; microcontrollers; motion control; programmable controllers; pulse width modulation; AT89C2051 chip; PWM signals; action data; bionics; control circuit; electromotor least movement scope; embedded control system; humanoid robot hand; least response time; motion control; programmable controller; serial communication; Automatic control; Communication system control; Control systems; Fingers; Humanoid robots; Pulse width modulation; Robotics and automation; Service robots; Springs; Tendons;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285716
