仿人机器人的关节运动控制系统与传感器系统设计-控制理论与控制工程专业论文.docxVIP

能够从上位机接收关于关节控制的位置和速度等信息，并根据这些信息 对关节电机进行实时控制，最后通过实验验证了该系统的可行性和良好 的性能。 另外还对机器人的传感器系统进行了研究，设计了 MIH-I 分布式控 制中的传感器系统，硬件上使用压力传感器测量脚底压力信息，倾角传 感器测量各个关节的倾角信息，这些信息通过相关的电平转换、接口扩 展以及驱动电路处理后送于主控制芯片 DSP 中。软件上设计了相关的传 感器和驱动芯片的底层控制函数，并通过一定的算法，将传感器的信息 计算得出脚底压力分布以及机器人各关节的角度和理论重心。最后通过 实验验证了这一系统的功能。 MIH-I 关节运动控制系统和传感器系统作为整个仿人机器人分布式 控制系统中的两个子系统，完成了运动控制中关节运动控制和信息反馈， 从而为整个仿人机器人实现实时在线运动控制做出了很大的贡献。最后， 在本文结尾，作者还总结了全文所做的工作，然后以此拓展开来，说明 了 MIH-I 以后所需要做的工作以及对未来的展望。 关键字：仿人机器人，分布式控制系统，关节运动控制系统，传感器系 统 JOINT MOTION CONTROL SYSTEM AND SENSOR SYSTEM DESIGN OF HUMANOID ROBOT ABSTRACT Humanoid robot is different from the general industrial robot, it use walking which is a more flexible way to move, and this way can be more adaptive on various of environment, and it is also more receptive to human, therefore, it has a more board application prospects than the wheeled or tracked robot. But for the walking control, its motion control requirements are higher, and it also needs the signal feedback by the sensor system, which is prerequisite to achieve the real-time and accurate motion control. In this paper, according to the structure of the small domestic humanoid robot in the laboratory, the distributed control system is designed to separate the joint control system and sensor systems from the main controller, and the subsystem can communicate through the CAN bus, this not only greatly reduces the burden of the main controller, but also improves the stability of the entire system. Next, the joint motion control system is researched and developed, this system is controlled by the central processor DSP, and with the related hardware circuit it can drive the joint motor to move, the control software is also developed, which based on the double PID control closed-loop algorithm, at last, the experiment testify the joint control system can handle the control of position and speed on joint motor. Then, the MIH-I robot’s sensor system is developed, it uses press sensors and inclination sensors to get the informati