利用TMS320VC5509A和EP2C8Q208设计实现了一个气动机械手实验控制系统,通过DSP C和FPGA VerilogHDL语言编程取代了体积庞大的PLC控制系统,实现了20路电磁换向阀控制.16路10 bit DAC精确控制比例阀电压从而控制气动机械手指的动作力度,利用8路10 bit ADC采集指端触感压力传感器压力信号并且完成波形显示,提供机械手指的握力反馈信息,提高了机械手的控制精度和控制速度.%TMS320VC5509A and EP2C8Q208 are used to design a pneumatic manipulator experiment control system.The system uses DSP C and FPGA VerilogHDL languages programing to take the place of big volume PLC control system,and accomplishes the control of 20 channels electromagnetic directional valves.It accurately controls 16 channels proportional valves by using 10 bit DACs,controls the action intensity of manipulators.It also completes acquisition of signals of the tactility pressure on finger tips of manipulators,by 8 channels of 10 bit ADCs and displays waveforms,and provides feedback information of the gripping force of manipulators,the control accuracy and speed are all improved.
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