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Control System Structure and Servocontrol of Biped Robot

Author: HuJinDong
Tutor: LiuGuoDong
School: Jiangnan University
Course: Detection Technology and Automation
Keywords: Biped Robot Control system Personal Digital Assistant Zero Moment Point Centroid Jacobi Systemic correction
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 122
Quote: 0
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Abstract


Bipedal robotics involves the development and integration of institutional science, materials science, computer technology, control technology, microelectronics, communications technology, sensor technology, artificial intelligence, mathematical modeling methods, bionics and other related disciplines, in robotics research. highest level. Through the efforts of many scientists around the world, has made great progress, which is an important part of the biped robot control technology, determines the robot performance advantages and disadvantages. Biped robot control system architecture design and servo control to expand more in-depth study and exploration of the three main research questions, thesis work are as follows: 1. Biped robot control system architecture overall design for robot-driven structure, sensor characteristics, as well as the control system requirements, and the distributed control mode is selected. The control system consists mainly of a decision-making layer and control layer. Decision-making layer to handle the movement of the image information as well as robots, the robot next step should be to take action, and to send control commands to the motion control module via a data communication module. Robot motion control layer management movement and adjust based on sensor information online robot joint trajectory. Then describes the specific design of the control system module. 2 biped robot control system hardware circuit design details, including decision-making control panels and motion control board design. Decision Dashboard S3C2440A processor core, a PDA (personal digital assistant). Followed by discussion of the motion control board hardware design, detailed design and analysis for the main circuit, including the power supply circuit, the clock and the JTAG interface circuit, the host computer, communications interface circuits, memory interface circuit, sensor interface circuits, servos communication interface circuit. Finally, based on a detailed analysis of the application development framework for decision-making control panels and motion control board. 3. Servo control method in the analysis of biped robot walk. Robot model error and the actual environmental impact caused by the instability of the walking robot. This need to join the servo controller, the use of attitude sensors, force sensors and other devices to correct pedestrian mode. This article gait correction control method using a new body joint. In a bipedal walking robot through the mass center motion compensation, to ensure the robot in real time to track the desired zero moment point. In order to achieve the desired movement of the center of mass, using centroid Jacobian matrix calculation the systemic joint motion compensation mode of the online correction robot walk, to achieve the purpose of indirect control zero moment point. Finally, the robot walking experiments to prove the effectiveness of this method.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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