仿人机器人关节驱动系统设计  

Design on the Driving System for Joint Controllers of Humanoid Robot

作　　者：史庆军[1] 李敏[2] 姜重然[1] 陈文平[1] 徐斌山[1] 

机构地区：[1]佳木斯大学信息电子技术学院,黑龙江省佳木斯154007 [2]北京理工大学宇航科学技术学院,北京100081

出　　处：《微计算机信息》2009年第35期196-198,共3页Control & Automation

基　　金：国家高技术研究发展计划(863计划);基金申请人:李敏;项目名称:竞技与娱乐多机器人系统(2007AA041603)

摘　　要：仿人机器人具有很多的自由度,每个自由度可以由关节控制器控制其动作,关节驱动系统的性能对运动轨迹至关重要。本文介绍了以TMS320F240DSP作为关节驱动控制器,采用位置环控制和速度环控制,并进行增量码盘和速度检测电路的设计以及相应的软件设计等,完成了6个自由度机械臂分布式关节驱动控制系统开发设计,能够满足仿人机器人技术与系统运动轨迹的控制要求。A humanoid robit is characterised by many degrees of freedom, the motion of which can be controled by joint controllers. The performance of joint dirving system is of vital importance to the tracks. In this paper, the joint driving controller based on TMS320F240DSP is introduced, position loop and speed loop control are adopted, and the circuits of incremental discs and speed detection along wirh their corresponding applications are designed. The achievement of develop and design on distributed joint driving controllers for six degrees of freedom mechanical arms fulfills the technology of humanoid robot and system trajectory, requirements.

关 键 词：仿人机器人 关节控制器 驱动系统 RS-485总线 分布式控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]