文档介绍：第 35 卷
第 24 期
计
算
机
工
程
2009 年 12 月
Computer Engineering
December 2009
·开发研究与设计技术·
文章编号:1000—3428(2009)24—0247—03
文献标识码:A
中图分类号:TP242
小型仿人机器人电机控制系统的设计与实现
张
怡,刘成刚,邢登鹏
(上海交通大学自动化系,上海 200240)
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
Design and Implementation of Motor Control System
for Small Humanoid Robot
ZHANG Yi, LIU Cheng-gang, XING Deng-peng
(Department of Automation, Shanghai Jiaotong University, Shanghai 200240)
【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 Si