摘要
为实现仿人机器人无缆工作的时间更长,设计了采用分布式电源的控制系统。仿人机器人关节电机驱动器采用动力电和数字电分开供电的方式,动力电主要为电机供电,而数字电主要为控制芯片供电,因而采用分布式电源方案,即由一个电池组对多个关节驱动器的数字电部分供电,而对单个关节驱动器的动力电部分由一个电池组供电。该方案在搭建的多电机控制系统中验证了其可行性,为仿人机器人无缆工作的时间更长提供了一种可能。
To realize long work hours of a humanoid robot without cable, a control system using distributed power is designed. Humanoid robot joint motor drives with separate power supply of dynamic power and digital way. Dynamic power mainly supply for motor, while the digital power mainly supply for the control chip. So that the control system use distributed power scheme, that is to say, a battery pack supply for a number of digital electric part of joint drive, while dynamic electric of each joint drive is supplied by a single battery pack. The feasibility of this method is verified in multi-motor control system. It becomes possible to work long time for humanoid robot.
出处
《传感器与微系统》
CSCD
北大核心
2011年第2期139-141,共3页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(60905053)
"211工程"三期建设项目(S-09108)
