Research On Motor Control And Power System Of The Rehabilitation Manipulator

Embed equipments develop quickly and apply widely. It is significance for embed equipments developing to do some research on motors control and power system which are based on embed system.The background of this work is rehabilitation manipulator. This work is supported by the National Natural Science Foundation of China"Research on the Inteligent Motivated Clinical Bionic Manipulator for the Function Rehabilitation of Injured Hands (Fingers)"(under Grant 60275033). The work is aimed to solve the key problems such as motors control and power system for embed equipments.Firstly, the motors controller is designed to some modules for the system by studying SPI. The control program is programmed in Verilog HDL language. And the program is proved right by simulation and experiment.Secondly, the driver is designed by studying SPI, motors controller and the the embed linux kernel. And the put the driver into the embed linux operating system.Thirdly, on the base of the motor controller and the driver, the API function and bottom control function is designed studying the motors characteristics. The function can control the rehabilitation manipulator work well.Finally, the power system is designed into some modules by analyzing the power system which is required by embed system.