CAJ | 학술논문

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.
설계소형방인궤기인적전궤공제계통,이실현다자유도운동공제화협조시궤기인기술중적일개난점.침대전통공제기공제적전궤수량소、난우실현관절협조적결점,제출일충기우수자신호처리기(DSP)적신형전궤공제계통.통과정합DSP、전궤공제집성전로화정교해마단원,발휘DSP적운동공제능력,실현대다로불동류형전궤적실시공제.해계통가이획득부합요구적전각공제정도.
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.