摘要
在仿人机器人研究领域,双足步行控制一直是其难点。主要介绍基于TI的DSP芯片TMS320F2812设计双足机器人的基本运动控制系统,围绕机器人腿部无刷直流电机的驱动进行优化设计。系统采用PWM进行电机调速,辅助以补偿参数,通过步态指令,验证电机运转的精确性、稳定性和系统的可操作性。电机调试为CCS仿真、步态规划和独立行走提供试验平台,使机器人能够实现步行功能。
Biped walking is one of the difficulties in humanoid robot research field.The design of biped humanoid robot′s basic motion control system based on DSP chip TMS320F2812 is introduced.The main content is to optimize the drive design of DC brushless motor on the humanoid robot′s legs.The system uses PWM to control the motor speed,together with compensation parameters and walking commands to validate the precision,stability and operable of the control system.The motor debugging can provide an experiment platform for CCS simulation,motor commissioning,walking programming and independent walking,the final target is to make the robot walking independently.
出处
《现代电子技术》
2010年第9期145-147,150,共4页
Modern Electronics Technique
