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Since its inception , the humanoid robot has always attracted people's attention. With the development of humanoid robot technology and the expanding field of application of the robot and its control are increasingly high requirements . As a multi-input multi-output nonlinear systems , strong coupling robot provides a good a good platform for a variety of means of control . TI's TMS320F2810 as the core of the development of a controller , the experiments show that the controller is not only driven power , fast response , high control accuracy , small size , easy to install , suitable for robot and servo control . This paper introduces the mechanical structure of the humanoid robot control system structure , sensing and feedback structure , the establishment of a mathematical model of the motor and joint shafting , the system control program . Secondly, the design of the controller of each functional module , including the power amplification module, a current detection module , the AD converter module , and the CAN communication module, and the completion of a printed circuit board design . Next, on the basis of analysis of the software development environment , in accordance with the modular design method , the design of the DSP of the main program and related features subroutine . The design is modular so that not only improve the readability and portability of software , are also easily check for problems and errors , and improve the efficiency of software development . Finally, the control algorithm of the control system of the humanoid robot joint . Study the principle of PID controller based on the analysis of several improved ways of PID controller , with an emphasis on tracking differentiator , simulation and experimental validation of the algorithm can not only improve the system response speed , which can effectively suppress noise .
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