【作者】 于佳；

【导师】 苏剑波；

【作者基本信息】 上海交通大学 ， 控制理论与控制工程， 2010， 硕士

【摘要】 仿人机器人不同于一般的工业机器人,它采用步行这种更为灵活的移动方式,对于多种环境具有更强的适应性,并且步行这种移动方式对于人类而言,也更容易接受,所以其相对于轮式或者履带式机器人具有更广阔的应用前景。但是对于步行控制来说,其运动控制要求更高,而且还需要引入相应的传感器系统作为信息反馈,才能实现实时准确的运动控制。本文针对实验室开发的小型家用仿人机器人MIH-I的具体结构,设计了分布式的控制系统体系,将关节控制系统与传感器系统从主控机中分离出来,单独作为一个系统,各个系统之间在通过CAN通讯协议相联系。将集中式任务控制和处理变为分布式的信息和任务处理,大大减轻了主控机的负担,也提高了整个系统的稳定性。在此基础上研究和设计了MIH-I关节运动控制系统,其硬件由DSP控制相关的驱动和信号解码电路驱动关节电机运动,软件上设计了针对硬件的底层驱动函数,并使用位置速度双PID闭环的算法对关节电机进行控制,还设计了与主控层相联系的通讯模块,使得关节运动控制系统能够从上位机接收关于关节控制的位置和速度等信息,并根据这些信息对关节电机进行实时控制,最后通过实验验证了该系统的可行性和良好的性能。另外还对机器人的传感器系统进行了研究,设计了MIH-I分布式控制中的传感器系统,硬件上使用压力传感器测量脚底压力信息,倾角传感器测量各个关节的倾角信息,这些信息通过相关的电平转换、接口扩展以及驱动电路处理后送于主控制芯片DSP中。软件上设计了相关的传感器和驱动芯片的底层控制函数,并通过一定的算法,将传感器的信息计算得出脚底压力分布以及机器人各关节的角度和理论重心。最后通过实验验证了这一系统的功能。MIH-I关节运动控制系统和传感器系统作为整个仿人机器人分布式控制系统中的两个子系统,完成了运动控制中关节运动控制和信息反馈,从而为整个仿人机器人实现实时在线运动控制做出了很大的贡献。最后,在本文结尾,作者还总结了全文所做的工作,然后以此拓展开来,说明了MIH-I以后所需要做的工作以及对未来的展望。更多还原

【Abstract】 Humanoid robot is different from the general industrial robot, it use walking which is a more flexible way to move, and this way can be more adaptive on various of environment, and it is also more receptive to human, therefore, it has a more board application prospects than the wheeled or tracked robot. But for the walking control, its motion control requirements are higher, and it also needs the signal feedback by the sensor system, which is prerequisite to achieve the real-time and accurate motion control.In this paper, according to the structure of the small domestic humanoid robot in the laboratory, the distributed control system is designed to separate the joint control system and sensor systems from the main controller, and the subsystem can communicate through the CAN bus, this not only greatly reduces the burden of the main controller, but also improves the stability of the entire system.Next, the joint motion control system is researched and developed, this system is controlled by the central processor DSP, and with the related hardware circuit it can drive the joint motor to move, the control software is also developed, which based on the double PID control closed-loop algorithm, at last, the experiment testify the joint control system can handle the control of position and speed on joint motor.Then, the MIH-I robot’s sensor system is developed, it uses press sensors and inclination sensors to get the information of foot press and joint angular, and the related software is designed to calculate the foot pressure distribution and the center of gravity of MIH-I, all the information can be send to the main controller by the CAN bus.As the part of the whole distributed control system on MIH-I, the joint motion control system and the sensor system constitute the motion control and information feedback of the entire control system. they are prerequisite for the humanoid robot to achieve the real-time motion control. At the end of this paper, the author summarizes the work he does, and illustrates the future work on MIH-I.更多还原