拟人机器人上肢运动检测系统的研制

Development of the detecting system for arm motion of humanoid robot

介绍了拟人机器人上肢运动检测与控制系统。以高准确度电位器为传感器,设计了检测传感电路。为克服长线传输中的干扰,设计了电流信号传输电路,并对所设计电路的非线性进行了标定。设计了拟人机器人关节轴极限位置保护开关及控制电路。实践证明,该系统能够得到上肢运动的比较理想的静态和动态结果。

A detecting and control system for arm motion of th e humanoid robot is described.Under the dimensional restriction of the arms,compac t potentiometer sensors are chosen,and corresponding detecting and transferring circuits that are able to shield the noise introduced by transferring are design ed.For the nonlinear characters of the chosen sensors and detecting circuits,pre cise calibration is implemented.Limit position protection is designed to prevent from accidental collision and damage of the arms.The practice proves static and dynamic performances of the arms can be tested. 