Development Of A Small Robot Joint Servo Controller

Sports joints are an important part of intelligent robots.Joint control and driving technology is a key technology of intelligent robots.Robot joint servo control has been a hot topic in the field of high-speed development of robots.The main goal of this design is to establish a complete servo control system for small robot joints,to achieve miniaturization of robot joints and position servo control.This paper first discusses the development of robot joint servo control technology,the status quo of domestic and foreign research and the necessity of small robot joint servo control technology research.Then,a low voltage small permanent magnet synchronous motor servo controller with a voltage of 24 V was designed with the IRMCF143 as the core of Infineon motion control chip.The main work content is the master chip core circuit design and peripheral circuit design which includes serial communication circuit,current detection circuit,overcurrent detection circuit,speed / position detection circuit,modulus input circuit,digital input,etc.And then debug the hardware circuit to verify the stability of the hardware system.In this paper,the servo control algorithm of permanent magnet synchronous motor is completed by using MCE's motion control engine library file and MATLAB / Simulink,and the servo control of IRMCF143 is realized.At the same time programming with Keil to achieve the communication between the IRMCF143 and peripherals.Through the on-line debugging and the analysis of monitoring data of the small joint servo control system,the performance of the servo controller basically meets the requirements of the system target.