Design Of Controller And Study On Control Algorithm For Joints Of Humanoid Robots

Humanoid robots have attracted people's attention since the advent of it. With the development of humanoid robotics and the robot applications continue to expand, theirs'requirements to control are also increasing. As a multi-input multi-output and strong coupling, nonlinear systems, robotics has provided a very good platform for varieties of control. In this paper, a high-power high-precision motion controller which is, was developed with the core of TI's TMS320F2810.Firstly, the mechanical configuration, control system structure and sensors of the humanoid robot are introduced, and established the mathematical model of joint and the motor. Then, the control system scheme was determined.Secondly, every module was designed in this paper, including the power amplifier modules, the current detection module the CAN communication modules and the AD module. Then the printed circuit board was designed.Then, after analyzing software development environment based on the modularization design method, the DSP procedures was designed and other relevant function subroutine. The modularizing design method that not only improves the software readability and portability, also convenient to check the error, improves the efficiency of software development.Finally, the control algorithm of the humanoid robot joints controller is studied. Several improved mode was analyzed after the research of the PID controller, and is mainly studied tracking differentiator, simulation and experiments show that the proposed algorithm is not only can improve the system response speed, also can effectively reduce the noise.