STUDY ON HUMANOID JOINT SERVO CONTROL SYSTEM BASED ON CAN BUS

Aimed at humanoid structure and requirements for control performance, and combined together with study of the prototype of THBIP-I of Tsinghua university, this paper presents a classification joint servo control system based on CAN bus. The author particularly describes the overall structure scheme for the system, structure of servo card, communication protocol and control algorithm, and realization of prototype's system. Finally, based on feasibility of control experiment, the improvement is put forward.