卓越I型仿人机器人底层关节控制器的设计  

The design of joint motion control system based on DSP for humanoid robot

作　　者：罗旭东[1] 王进戈[1] 张金泳[1] 

机构地区：[1]西华大学机械工程与自动化学院,四川成都610039

出　　处：《机器人技术与应用》2010年第1期43-46,共4页Robot Technique and Application

摘　　要：为了实现卓越I型机器人在实际环境中稳步行走,设计了底层控制系统中的关节控制器用于控制舵机。选用DSP TMS320F2812作为处理器,充分利用其全数字型,集成度高,体积小,低功耗以及可实现多轴运动的特点,对底层各个关节舵机进行控制,实现既定舵机的运转,以及将舵机的转速和位置等相关传感器的信息反馈给上级控制处理器实现对关节舵机精确的控制,并通过DSP TMS320F2812的两个事件管理器分别同时控制机器人的左右腿的关节舵机单元,提高了机器人在实际行走以及执行任务过程中的实时性、准确性以及稳定性。The design of ZHUO YUE-I＇ s joint motion control system is introduced here in order to make humanoid robot move more steadily. Because of it＇ s digital, high integrations, small size, low power consumption and turning around seral axises ,we chose TMS320F2812 as the control unit of the control system to control the steering engines so that the joints will turn in a certain way. The sigal of motors＇ speed and position can also be transferred to Microprocessor in the higher level so as to make motors run more precisely. .And we can control the two legs of the humanoid robot at the same time through the two event managers in DSP in order to improve its real-time control and stability.

关 键 词：仿人机器人 舵机 DSP 关节控制器 速度反馈 位置反馈 事件管理器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]