仿人机器人关节驱动柔性特征自动检测系统

Automatic detection system for joint-driving flexible feature of humanoid robot

以快速检测大量仿人机器人关节驱动柔性特征为目标,设计仿人机器人关节驱动柔性特征自动检测系统。系统检测关节特征为关节扭矩,检测模块的轮辐式扭矩传感器与扭矩转速测量仪配合使用,测量关节扭矩大小。PLC控制器从步进电机与扭矩传感器中获取检测信息,向关节驱动器与控制器传输检测命令,实现关节扭矩自动检测。实时控制单元与非实时控制单元构成系统软件,二者以内存共享区域为中介分享检测数据,为检测模块提供软件支持。测试结果显示,系统检测仿人机器人关节扭矩误差低于0.2 N·m,符合仿人机器人关节特征检测标准。

The automatic detection system for joint-driving flexible features of humanoid robot is designed with taken rapid detection of a large number of joint-driving flexible features of humanoid robot as target. The joint feature detected by the system is the joint torque,and the hub-and-spoke torque sensor of the system detection module is used together with the torque rotational speed measurer to measure the size of the joint torque. The PLC controller obtains detection information from stepping motor and torque sensor,and transmits detection command to joint driver and controller,so as to realize the automatic detection of joint torque. The real-time control unit and the non-real-time control unit constitute the system software,and both which share the detection data with the memory shared area as the intermediary to provide software support for the detection module. The testing results show that the torque error of humanoid robot′s joint detected by the system is less than 0.2 N·m,which conforms to the detection standard of joint feature of humanoid robot.