四足仿生机器人嵌入式多关节伺服控制器的研究

详细信息

Research on Embedded Multi-joint Servo Controller of Quadruped Bionic Robot

摘要: 介绍了DSP芯片TMS320LF2407的原理，开发了基于CAN总线的多关节伺服控制器．针对四足仿生机器人关节控制的应用，在DSP中采用流水线采样策略和带修正函数的自调整模糊控制规则，有效地克服了机器人关节轨迹跟踪控制中耦合、力矩非线性等因素的影响．控制驱动的集成化提高了移动机器人的速度和负载容量．
- 伺服控制 /
- 机器人 /
- CAN总线 /
- 模糊
Abstract: The principle of DSP chip TMS320LF2407 is introduced,and a multi-joint servo controller based on CAN bus is presented.In view of the application of quadruped bionic robot joint control,we adopt a streamline sampling strategy and the adaptive fuzzy control rules with modifiable function in DSP software.The experiment shows that these methods can effectively overcome such control defects as coupling,nonlinear moment,etc.in robot joint trajectory tracking control.The integration of control and driving increases the speed and load volume of mobile robots.
- servo control /
- robot /
- CAN bus /
- fuzzy

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