仿人机器人关节驱动柔性特征自动检测系统  

Automatic detection system for joint-driving flexible feature of humanoid robot

作　　者：杨斌 YANG Bin(Department of Industrial Automation,Guang Dong Polytechnic College,Zhaoqing 526100,China)

机构地区：[1]广东理工学院工业自动化系,广东肇庆526100

出　　处：《现代电子技术》2020年第8期176-178,182,共4页Modern Electronics Technique

基　　金：广东省自然科学基金项目(S2013040012898);广东省普通高校特色创新类项目(2017KTSCX203)。

摘　　要：以快速检测大量仿人机器人关节驱动柔性特征为目标,设计仿人机器人关节驱动柔性特征自动检测系统。系统检测关节特征为关节扭矩,检测模块的轮辐式扭矩传感器与扭矩转速测量仪配合使用,测量关节扭矩大小。PLC控制器从步进电机与扭矩传感器中获取检测信息,向关节驱动器与控制器传输检测命令,实现关节扭矩自动检测。实时控制单元与非实时控制单元构成系统软件,二者以内存共享区域为中介分享检测数据,为检测模块提供软件支持。测试结果显示,系统检测仿人机器人关节扭矩误差低于0.2 N·m,符合仿人机器人关节特征检测标准。The automatic detection system for joint-driving flexible features of humanoid robot is designed with taken rapid detection of a large number of joint-driving flexible features of humanoid robot as target. The joint feature detected by the system is the joint torque,and the hub-and-spoke torque sensor of the system detection module is used together with the torque rotational speed measurer to measure the size of the joint torque. The PLC controller obtains detection information from stepping motor and torque sensor,and transmits detection command to joint driver and controller,so as to realize the automatic detection of joint torque. The real-time control unit and the non-real-time control unit constitute the system software,and both which share the detection data with the memory shared area as the intermediary to provide software support for the detection module. The testing results show that the torque error of humanoid robot′s joint detected by the system is less than 0.2 N·m,which conforms to the detection standard of joint feature of humanoid robot.

关 键 词：仿人机器人 关节驱动 系统设计 关节特征监测 关节扭矩 系统测试 

分 类 号：TN957.523-34[电子电信—信号与信息处理] TP242[电子电信—信息与通信工程]