中文摘要：

为了控制由20个超声电机驱动的关节独立的5指灵巧手实现仿人手的动作，本文建立了5指灵巧手的运动控制系统。系统采用TMS320F1812芯片作为控制器，用EPM7192S芯片实现超声电机正反转控制和片外电路逻辑控制，通过调节DA07724施加在驱动器压频转换器上电压来改变超声电机的工作频率实现对其运行速度的调节，采用PID控制实现了灵巧手位置反馈控制。

英文摘要：

To control a five-fingered hand with independent joints, driven by twenty ultrasonic motors to imitate motion of hominine hand, the control system is established in this paper. The main control circuit was based on microcontroller TMS320F1812, EPM71925 is using to control movement, reverse movement of ultrasonic motors and the circuit logic. The velocity of the ultrasonic motors is actually controlled by regulating their operating frequency, which is controlled by DAC7724. The five-fingered hand position servo control is realized by PID control.