TIDA-010992
Centralized six-axis motor control using a single MCU for humanoid robot hand reference design
TIDA-010992
概述
This reference design uses a single TI C2000™ F28P65 microcontroller for industrial Ethernet motor drives with six-axis control. The design uses a printed circuit board (PCB) with less than 42cm2 to drive a 6 degree of freedom (DoF) humanoid robot hand. The design demonstrates a small form factor and integrated platform. This integrated platform leverages six DRV8376 three-phase motor drivers with integrated current sensing and FETs as the power stage. The platform includes real-time motor control and industrial Ethernet communication using the F28P65 device with two 32-bit C28x Digital Signal Processor (DSP) Central Processing Units (CPU) and one Control Law Accelerator (CLA) CPU, all running at 200MHz.
特性
- Compact design with highly integrated circuits (IC) facilitates a PCB size less than 42cm2
- Single real-time microcontroller (MCU) with two CPUs to control six independent closed-loop field-oriented control (FOC) for current, velocity, and position
- High-efficiency current monitoring and small form factor of DRV8376 with integrated low-side current-sense amplifier and integrated field-effect transistors (FET)
- Flexible communication interface option for chip-to-chip communication, for example, fast serial interface (FSI), universal asynchronous receiver-transmitter (UART), and controller area network with flexible data-rate (CAN-FD)
我们开发的全面组装电路板仅用于测试和性能验证，不可用于销售。
设计文件和产品
设计文件
下载现成的系统文件，加快您的设计过程。
产品
在设计中包括 TI 产品和可能的替代产品。
TMS320F28P650DK — 具有 2 个 C28x+CLA CPU、1.28MB 闪存、16 位 ADC、HRPWM、EtherCAT、CAN-FD、AES 和、锁步功能的 C2000™ 32 位 MCU
技术文档
| 顶层文档 | 类型 | 标题 | 格式选项 | 下载最新的英语版本 | 日期 | |
|---|---|---|---|---|---|---|
| * | 设计指南 | Centralized Six-Axis Motor Control Using a Single MCU for Humanoid Robot Hand Reference Design (Rev. A) | PDF | HTML | 2026-6-24 |