多舵机控制在类人机器人上的应用

The application of multi-servo control on humanoid robot

舵机控制器是机器人的重要部件。采用一种新颖的利用单片机产生多路控制舵机用PWM的方法,利用单片机内部定时器,采用分时复用技术,在不增加任何硬件电路的前提下,用单片机实现多达24路PWM输出。该方法取代了传统的使用分立元件产生PWM波的方法,大大减少了分立元器件数目及电路连线,改善了系统可靠性,提高了控制精度,并成功用在17自由度仿人机器人的控制系统中。

Servo controller plays a very important role in humanoid robot. A novel method that generates multiplex PWM waveforms using micro-single processor for controlling servos is introduced. It maximizes the number of PWM waveforms to 24 by means of the combining hardware timer and time-sharing multiplex technique without any additional hardware interface. This method substitutes the conventional method, which uses discrete components. Then it leads to reduce significantly the component count of the circuit and i...