Design Of Control System For Biped Walking Robot

A motor-driven biped walking robot prototype has been developed.The control system based on this robot prototype is designed in this paper.Firstly,the theory of Two-Point-Foot walking is introduced.Based on this theory,the motion control mode of the robot is designed.Then,the physical model of the robot is simplified.The kinematics model of the robot is established with the method of Denavit-Hartenberg,and a three-dimensional motion simulation model is built by MATLAB/Simscape.Secondly,according to the current development trend of the control system and the features and functional requirements of the robot prototype,the design requirements of the control system are put forward.The control system is modularly designed with a distributed structure.The control system is divided into scheduling and coordination module,planning and calculation module,motion control module,monitoring and control platform.The communication scheme and real-time operating system are determined according to the requirements,and the function of each module and the hardware of some modules are designed.Then,the software of the control system is designed,including the functional tasks of the control system in the u C/OS-III real-time operating system,the implementation of the Ether CAT communication between the modules,the planning calculation module,the motion control module and the PC monitoring and control platform.Finally,an experimental platform is set up and experiments to test the performance of the control system are carried out and analyzed.The real-time experiment,the stability experiment,the accuracy experiment of the data transmission,the circuit protection experiment and the motion control experiment of control system are carried out.The experimental results show that the control system designed in this paper has good performance and can satisfy the requirements of motion control of the robot prototype.