The Modular Design of Joint Control System for Humanoid Robot

Author

Zhang Jing ; Xiang Zhongfan ; Wang Jinge ; Liu Zaixin ; Luo Xudong

Author_Institution

Sch. of Mech. Eng. & Autom., Xihua Univ., Chengdu, China

fYear

2010

fDate

29-31 Oct. 2010

Firstpage

1

Lastpage

3

Abstract

Aimed at numerous joint freedom of humanoid robot and the complex control situation of motor, this paper presents a hierarchical control structure and a modular design project for bottom joint controller. To combine the capability of high-speed data processing of DSP and the predominant control performance of 8-bit MCU, the design chooses TMS320F2812 for coordination layer and P89LPC9201 for execution layer, making the DC motors stable rotation. There are two Event Managers in TMS320F2812, so the DSP could control the joints of two legs at the same time. Coordination layer and execution layer could realize communication through UART. The incremental PID algorithm is used in the control strategy by stages. Simulation result shows that this method is rapid, stable and accurate.

Keywords

control system CAD; digital signal processing chips; humanoid robots; three-term control; DC motors; DSP; MCU; P89LPC9201; TMS320F2812; UART; bottom joint controller; coordination layer; event managers; execution layer; hierarchical control structure; humanoid robot; incremental PID algorithm; joint control system; modular design project; predominant control performance; word length 8 bit; Algorithm design and analysis; Control systems; DC motors; Digital signal processing; Joints; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Multimedia Technology (ICMT), 2010 International Conference on

Conference_Location

Ningbo

Print_ISBN

978-1-4244-7871-2

Type

conf

DOI

10.1109/ICMULT.2010.5630906

Filename

5630906