| Humanoid robot is a complex system of nonlinear and strong coupling, the humanoid robot control system is an important part of humanoid robot, involves control automation, machinery automation, sensor technology, intelligent control, electronic technology and other technologies, its performance is a measure of the strength of the advanced nature and function of the humanoid robot’s standard, decide whether the humanoid robot can accomplish task directly. The ideal of humanoid robot walking control system should collect and process real time data, path planning, realize human-computer interaction, and control each joint in accordance with the instructions to complete the accurate motion, control robot to walk like a person, even to finish the motion that the human could not complete.Based on the in-depth analysis of working mechanism of humanoid robot and control mode, control system is divided into the main control part, coordination and communication part and execution part.The D-H coordinate system is established, the humanoid robot kinematics is analyzed and solved, it is the basic calculation research of kinetics, trajectory planning. Seven connecting rod structure is adopts to simplify the model of humanoid robot, a dynamic model is established, which lays the foundation for the research of humanoid robot joint control. Principle and higher order interpolation of gait planning application of inverted pendulum are used to obtain off-line trajectory of each joint.The humanoid robot walking control system is designed and built. In the joint controller of the humanoid robot execution part, the fuzzy intelligent algorithm is used to complete the closed-loop control of the joint, the rule base of fuzzy controller is optimized by the genetic algorithm to improve the responds speed and accuracy of control system, the genetic algorithm software is used to simulate humanoid robot joint, and the result verify the correctness of the control method. Comprehensive analysis of various criterion about stability, the stability of the humanoid robot walking links are analyzed by the theory of application of ZMP, and the design of the stabilizing controller is designed.Real time operating system is applied in STM32, and computer software is designed to control joint. The experimental results show that the system can control the humanoid robot to walk following expected planning stably, reach the design requirement. |
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