CAJ | 학술논문

针对仿人机器人手臂模块化关节的结构与性能要求，设计出一种成本低、结构紧密、耦合性能好且适用于工程实践的环形伺服驱动控制系统。该系统主要由 MFC 控制界面发送指令，通过USB CAN 与主控芯片 STM32进行通信，由 STM32完成 PID 控制专用运动控制芯片 LM629并监视其反馈信息。实验结果表明，该系统结构稳定、合理、可行。
침대방인궤기인수비모괴화관절적결구여성능요구，설계출일충성본저、결구긴밀、우합성능호차괄용우공정실천적배형사복구동공제계통。해계통주요유 MFC 공제계면발송지령，통과USB CAN 여주공심편 STM32진행통신，유 STM32완성 PID 공제전용운동공제심편 LM629병감시기반궤신식。실험결과표명，해계통결구은정、합리、가행。
A low-cost, compact-sized and high-coupling ring servo drive control system is designed for humanoid robot arm modular joint structure and performance requirements. The system sends instructions from MFC control interface to master control chip STM32 by USB CAN converter. Then STM32 completes the PID control of the special motor control chip LM629 and monitors the feedback information. The experimental result shows that the system structure is stable , reasonable and feasible.