仿人型机器人控制系统设计的几个问题  

Problems of Humanoid Robot Control System Design

作　　者：陈强[1] 罗斌[1] 秦超[1] 

机构地区：[1]华中科技大学武昌分校,湖北武汉430064

出　　处：《自动化技术与应用》2013年第5期13-16,共4页Techniques of Automation and Applications

基　　金：2012年华中科技大学武昌分校教研基金项目

摘　　要：仿人型机器人具有自由度数量多,机器人本体机械结构复杂的特点,是目前服务类机器人的主要研究机型。为了解决仿人型机器人走步时多路舵机的控制问题,同时解决多路舵机同时工作时,供电电压被拉低而造成的舵机抖舵问题,本文提出了一种基于STM32单片机的解决方案,实现对16路舵机的实时控制。在单片机的I/O口设计光耦隔离电路,消除舵机抖动。本方案性价比高,可同时驱动16路舵机。Humanoid robot has a number of robot body and mechanical structure complicated characteristics, is the service class robot research model. In order to solve the humanoid robot move, multiple steering gear control problem, in the mean- while to solve multiple steering gear work together simultaneously, the power supply voltage is pulled low caused by the steering gear shake rudder problem. This paper puts forward the STM32 based oll microprocessor solutions, realizes the real-time control of the steering gear and road. On the microprocessor I/O port design optical coupling isolation circuit, it realizes multiple steering stable power supply, eliminate steering jitter. The performance cost ratio of this scheme is high, can also drive 16 roads steering gear.

关 键 词：仿人型机器人 STM32 舵机抖动 光耦隔离 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]