文档介绍：摘要II 的控制能力,从而实现对多路不同类型电机的控制及基于多总线的全方位数据通信。最终完成的系统通用性与扩展性好,结构更紧凑,也更易于实现关节之间的耦合控制。仿人机器人实验平台上进行了多关节协同控制实验,实验结果表明此种系统软硬件设计可以满足机器人运动行为的基本要求,并可以达到相当的控制精度。关键词:仿人机器人,数字信号处理器,运动控制,正交解码ABSTRACT III MOTION CONTROL SYSTEM DESIGN OF HUMANOID ROBOTS ABSTRACT Humanoid robots can be considered as nonlinear high-order systems with multiple degrees of freedom and plete constraints, spanning many research fields, such as mechanics, electronics, communication, computer science, bionics, etc. As a result, the research on humanoid robots may serve as an ideal experimental platform for ics, dynamics, simulation technology, sensor fusion, control theory and so the kinematic performance of a robot is directly influenced by its motion control system, thus the kinematic research and development has remained as one key area in the research of humanoid robotics. Furthermore, the motion control system of small-sized humanoid robots has several special features. For example, the system must be capable of controlling a quantity of joints within a finite space, responsible for the joint coordination as well as guaranteeing real-time performance. In addition, the motion control system also poses more restrictions for the dimension and weight of the system layout. This paper presents an improved motion control system structure for humanoid robots, by incorporating the advantages of both centralized and distributed control systems. Such a structure is made up of coordination ABSTRACT IV motion module, munication module and the motion control modules distributed on the bottom layer. The bottom control units are responsible for the control of robot arms and legs of, each of which includes joint controller, joint drive, and a number of sensors. The structure takes the actual robot configuration into consideration, which is that those adjacent joints usually share similar functionalities and thus form a tight coupling relationship in-between. By this means, the control system will not only preserve