Abstract: The design of motor control system for small humanoid robots to realize motion control and coordination of multiple freedom degrees is a nodus of robot technology. Aiming at the demerit that traditional controllers are only applicable for controlling a small number of motors, which impedes joint coordination, this paper proposes a novel Digital Signal Processor(DSP)-based motor control system. The integration of DSP controller, motor control integrated circuit and quadrature decoder unit unleashes moving control potential of DSP, and realizes real-time control among multiple joints. Experimental results demonstrate that the system can provide satisfactory control precision.

Key words: humanoid robot, Digital Signal Processor(DSP), motor control, quadrature decoding

摘要： 设计小型仿人机器人的电机控制系统，以实现多自由度运动控制和协调是机器人技术中的一个难点。针对传统控制器控制的电机数量少、难于实现关节协调的缺点，提出一种基于数字信号处理器(DSP)的新型电机控制系统。通过整合DSP、电机控制集成电路和正交解码单元，发挥DSP的运动控制能力，实现对多路不同类型电机的实时控制。该系统可以获得符合要求的转角控制精度。

关键词: 仿人机器人, 数字信号处理器, 电机控制, 正交解码

CLC Number: 

• TP242