The Design Of The Control System Based On ARM7 For Biped Walking Robot

The Biped walking desktop-robot is not only applied widely in teaching, competitions and entertainments, but also treated as a research tool of biped walking. In this thesis, a control system for biped walking desktop-robot is designed, which is based on ARM7 processor and Embedded Real Time Operating SystemμC/OS-II, and works well in the mechanism of the KONDO biped walking desktop-robot. A walking pattern for the biped robot is presented, and the robot can walk stably on the flat.The hardware circuit based on the ARM7-core processor LPC2131 for the robot is designed, which is suitable to the mechanical configuration and the drivers of the KONDO robot. Battery is used as the power-supply of the robot to increase the agility, and the photoelectricity-couplers are used to insulate the control circuit from the drive circuit for more stabilization and safety. The hardware circuit is tested to works well, and the result proves that the design of the hardware circuit is correct.The open-code operating systemμC/OS-II is explanted to the processor of the circuit. Under the operating system, several tasks and interrupt service routines are designed to accomplish the functions of the control system for the biped working robot. The frame of software is completed, which is for the control system for biped walking desktop-robot. A improved method of producing multiple PWM signals is presented, and the precision of the control signal can be improved to 1μs, and the problem that the robot shakes because of the interrupt-nesting is solved. A test to the articulations of the robot is done.The simple kinematics model in possession of multiple rigid shanks is built. The static walking pattern for the robot is designed and come into true in the control system, which makes the robot walk stably on the plat. And the dynamic walking pattern for biped walking robot is built based on the kinetic characteristic of three-dimensional linear inverted pendulum.The emulation of the dynamic walking pattern is done in the Matlab to make preparation for the further study.