基于DSP2812的双臂单腿跳跃机器人控制系统研究

Control system of one-legged And Two Actuated Arms hopping robots Based on DSP2812

对于一种新型的双臂单腿跳跃机器人,简要介绍了该机器人系统的特点。根据该机器人的功能和要求,提出了控制该机器人的设计目标和关键技术,据此设计了基于DSP的运动控制系统,并介绍了该控制系统的体系结构,在搭建的试验平台上做了相关试验。实验结果表明该控制系统的性能指标达到了对跳跃机器人的预期要求。

For a novel one-legged and two actuated arms hopping robot, we introduced the robots＇ characters. After analyzing its characteristic, several key technique and performance index are presented in order to well controlled . Then a motion control system based on DSP was designed for the hopping robots. The framework of the control system was introduced too. Experiment results show that the performance of the control system is enough to control the hopping robot.