Design And Research Of Humanoid Robot Embedded Motion Controller

Motion controller is the core part for the system of humanoid robot with multiple degree of freedom, its main function is to control mechanical construction of humanoid robot to achieve the specified action. Domestic and foreign manufacturers of motion controller and universities are committed to the research and development of motion controller with high controllable axis number, fast responsed speed and high controller precision,at the same time, reducing the controller volume, cutting down the controller price is the research object. At present,the PMAC card that produced by American Delta Tau Data company can be the typical representative of controller of ONC system, the last research showed that, the controller based PMAC card that designed based on DSP+FPGA can control32axes, the controlled precision is high, but the need to expand the card when control more than8axis, so that control system volume will be increased, the price is high, and cannot operating without computer. The motion controller of domestic motion controller manufacturers googol can control the production with21axes, but it also need the expansion card, and the price is high, volume is large. Therefore, it is important to research and develop the motion controller with more controlled axe number, high precision, low price and small volume.By analyzing the mechanism of humanoid robot motion and realized the logic requirement of movement, the movement indicators required by humanoid robot was summarized, the general planning with movement control system that combining STM32with CPLD was embedded. The control system circuit diagram is designed by the software of Altium Designer6, according to the schematic diagram, the PCB plate was drawn, the experiment board was fabricated by welding the organs. In accordance with the performance of motion controller of humanoid robot, the hardware circuit in the control system was simulated, detected whether the hardware circuit designation meet the test requirements of20degree of freedom. The circuit was built by Proteus, which was used to simulate the analog signals of the output of pressure sensor, gyroscope sensor and so on, and the noise in analog signal was removed by Calman filtering procedures, so that can track effectively, the buffet can be reduced availably, the maximum tracking error is1.21mV, the error rate is0.8%, which has met the tracking requirements. Sending theserial port instruction by virtual serial port module, response time of system response was detected, multiple degrees of freedom move at the same time, the maximum delay time is less than0.2s, which has met the control requirements.The software and hardware in this system are portable.The hardware used STM32+CPLD as the core, expanded the digital input, digital output, AD input and other commonly used functions module on the reserved resources on STM32processor. STM32has64maskable interrupt, μC/OS-Ⅱ operating system is able to handle56tasks, according to the difference of controlled objects,, each task was built in the software design according to the different priority, so that the system’s response speed and processing ability was enhanced. The motion controller used in industry and the trade of intelligent control, after the motion decomposition of controlled object,do the second development for the embedded motion controller by combining the electrical characteristics, it has met the requirement to the application of embedded motion controller in the field.