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
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
中图分类号:
张 怡;刘成刚;邢登鹏. 小型仿人机器人电机控制系统的设计与实现[J]. 计算机工程, 2009, 35(24): 247-249.
ZHANG Yi; LIU Cheng-gang; XING Deng-peng. Design and Implementation of Motor Control System for Small Humanoid Robot[J]. Computer Engineering, 2009, 35(24): 247-249.