卓越Ⅰ型仿人机器人底层关节控制器的设计

为了实现卓越Ⅰ型机器人在实际环境中稳步行走,设计了底层控制系统中的关节控制器用于控制舵机。选用DSP TMS320F2812作为处理器,充分利用其全数字型,集成度高,体积小,低功耗以及可实现多轴运动的特点,对底层各个关节舵机进行控制,实现既定舵机的运转,以及将舵机的转速和位置等相关传感器的信息反馈给上级控制处理器实现对关节舵机精确的控制,并通过DSP TMS320F2812的两个事件管理器分别同时控制机器人的左右腿的关节舵机单元,提高了机器人在实际行走以及执行任务过程中的实时性、准确性以及稳定性。     

基于Arduino的双足智能语音机器人的研制

本文设计了一个基于Arduino的双足智能语音机器人。主要以伺服舵机作为双足机器人的关节活动,通过32路舵机控制器进行控制,为机器人配备超声波传感器,使其能够完成独立行走、避障、跌倒起立等基础动作,并在此基础上加入语音识别模块,可以与人交流互动,完成基本的人机对话、命令控制机器人动作,以及唱歌、讲故事等功能。     

多自由度舞蹈机器人的制作

本机器人是通过一个舵机控制器控制若干个安装在机器人支架上的舵机转动或停止,使机器人能按照预先设计的步骤做出各种动作。只要你会使用电脑,你的机器就会舞动起来。安装几个舵机就有几个自由度,也就相当于有几个人体关节。     

基于PIC单片机的直流电机控制器的设计

提出一个基于PIC单片机的直流电机伺服控制器,该控制器有3种控制模式,即位置、速度和电流控制,并且3种控制模式可以随时切换.其目的是开发一种适用于多关节机器人的嵌入式控制系统,能够使机器人的各个关节根据不同的外部环境采用不同的控制模式.介绍了控制器的设计思路、控制算法、控制指令和通信方式.最后用开发的控制器对位置、速度和电流控制进行了实验,结果指出该控制器具有较好的控制效果.     

智能机器人运动关节集成驱动控制器研究

根据智能机器人的控制要求,提出了机器人控制系统的顶层核心控制器和底层运动控制器的双层结构,底层与顶层基于CAN总线完成关节状态信息的上传和运动指令的下达.在此基础上,采用高速DSP、IPM功率智能模块、光电编码器、无刷直流电机等构建了机器人运动关节集成驱动控制器的硬件电路,并完成了相应软件设计.结果表明,这种集成驱动控制器简化了层间联系,提高了响应速度,增加了整体集成度,有利于运动关节的驱动控制一体化.     

数字舵机驱动控制的研究和设计

阐述和分析了数字舵机的驱动控制原理及其应用领域,并设计出一款数字舵机。采用ATmega168作为数字舵机的控制主芯片,采用TWI通讯方式将数据传入舵机控制系统中,将三次样条插值法的理论引入到了PD控制算法中,提高了舵机转动的精度。     

仿人机器人控制系统研究及其关节控制器设计

论述了由嵌入式计算机组成的3层仿人机器人控制系统,并详细介绍了其中的关节控制器.控制系统实行逐级控制,任务分散,提高了机器人的智能化程度.关节控制器选用TM320F2811型数字信号处理器作为处理器,具有全数字型、集成度高、体积小、功耗低、可实现多轴运动控制的特点.关节控制策略采用模糊PD结合传统PI调节的算法,实验结果表明这种控制算法具有较强快速性、精确性、鲁棒性.     

基于AVR单片机的电动舵机控制器设计

根据无人机控制系统需求,设计一款基于AVR单片机的数字电动舵机控制器,详细介绍了该电动舵机控制器的组成、工作原理、数字PID控制算法,实现了对舵机的伺服控制,为工程研制数字化舵机奠定了良好基础。     

FPGA的仿生机器人多路舵机控制器设计

为了实现对多路舵机的精确控制,介绍了一种基于FPGA的多路舵机控制器设计方案,可应用于仿生机器人的动作控制。所设计的控制器硬件包括FPGA控制器、舵机、隔离电路和电源滤波电路;软件设计主要包括寻址模块、ROM模块和PWM发生模块。仿真实验表明,本设计的多路舵机控制器能较好地控制每个舵机平稳运行完成动作组,并能更改ROM中存放的数据,增加PWM信号路数,可设计任意动作组。     

基于AT89S52的六足机器人运动控制器的设计

文章应用AT89S52内部的2个定时器,采用多舵机分时控制方法,设计了可驱动机器人足部12个舵机协调运动的控制器;按照六足机器人典型行走步态,实现了六足机器人按步态规划运动。测试结果验证了该设计方案的正确性和可靠性。     

机器人电液位置伺服系统的智能模糊控制

本文针对机器人的关节电液位置伺服系统的特点,应用模糊集和人工智能原理设计了一种简单的智能模糊控制器.计算机仿真和实时控制实验结果均表明,智能模糊控制能有效地克服机器人系统固有的变惯量、非线性等不利因素的影响.此外,该控制器对系统参数变化具有较强的鲁棒性,能显著的提高机器人系统的定位精度和动态响应性能.     

Experimental study on direct adaptive control of a PUMA 560 industrial robot

The article describes the implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC Micro VAX II computer which hosts the RCCL (Robot Control “C” Library) software. The control algorithm is implemented on the Micro VAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the Micro VAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain PID controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the interjoint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. The scheme is also implemented for control of the end-effector motion in Cartesian space. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.     

Application of a hybrid controller to a mobile robot

This paper presents the application of a hybrid controller to the optimization of the movement of a mobile robot. Through hybrid controller processes, the optimal angle and velocity of a robot moving in a work space was determined. More effective movement resulted from these hybrid controller processes. The experimental scenarios involved a five-versus-five soccer game and a MATLAB simulation, where the proposed system dynamically assigned the robot to the target position. The hybrid controller was able to choose a better position according to the circumstances encountered. The hybrid controller that is proposed includes a support vector machine and a fuzzy logic controller. We used the method of generalized predictive control to predict the target position, and the support vector machine to determine the optimal angle and velocity required for the mobile robot to reach the goal. First, we used the generalized predictive control to predict the target position. Then, the support vector machine is used to classify the angle that must be followed by the mobile robot to reach the goal. Next, a fuzzy logic controller is designed to determine the velocity of the left and right wheels of the mobile robot. Thus generated, the velocity was optimized according to the measures obtained by the support vector machine. Finally, based on the optimal velocity of robot, the output membership function was modified. Consequently, the proposed hybrid controller allowed the robot to reach the goal quickly and effectively.     

Walking and steering control for a 3D biped robot considering ground contact and stability

This paper presents a stable walking control method for a 3D bipedal robot with 14 joint actuators. The overall control law consists of a ZMP (zero moment point) controller, a swing ankle rotation controller and a partial joint angles controller. The ZMP controller guarantees that the stance foot remains in flat contact with the ground. The swing ankle rotation controller ensures a flat foot impact at the end of the swinging phase. Each of these controllers creates 2 constraints on joint accelerations. As a consequence, the partial joint angles controller is implemented to track only 10 independent outputs. These outputs are defined as a linear combination of the 14 joint angles. The most important question addressed in this paper is how this linear combination can be defined in order to ensure walking stability. The stability of the walking gait under closed loop control is evaluated with the linearization of the restricted Poincare map of the hybrid zero dynamics. As a result, the robot can achieve an asymptotically stable and periodic walking along a straight line. Finally, another feedback controller is supplemented to adjust the walking direction of the robot and some examples of the robot steered to walk along different paths with mild curvature are given.     

小型仿人机器人控制系统设计

本文提出了一种以ARM9为主控制器的新型的仿人机器人分布式控制系统。单片机和外部计数器组成关节控制器。主控制器和关节控制器之间采用USB通信。从而实现了控制系统的小型化和低功耗。通过该系统控制小型仿人机器人完成了行走实验。     

基于观测器的机械手神经网络自适应控制

提出了一种基于观测器的机械手神经网络自适应轨迹跟随控制器设计方法,这里机 械手的动力学非线性假设是未知的,并且假设机械手仅有关节角位置测量.文中采用一个线 性观测器重构机械手的关节角速度,用神经网络逼近修正的机械手动力学非线性,改进系统 的跟随性能.基于观测器的神经网络自适应控制器能够保证机械手角跟随误差和观测误差的 一致终结有界性以及神经网络权值的有界性,最后给出了机械手神经网络自适应控制器-观 测器设计的主要理论结果,并通过数字仿真验证了所提方法的性能.     

An embedded fuzzy controller for a behavior-based mobile robot with guaranteed performance

In this paper, an embedded fuzzy controller for a nonholonomic mobile robot is developed. The mobile robot was built based on the behavior-based artificial intelligence, where several levels of competences and behaviors are implemented. A class of fuzzy control laws is formulated using the Lyapunov's direct method, which can guarantee the convergence of the steering errors. Theoretical analysis of the fuzzy control algorithms for steering control of the mobile robot is performed. The requirements for a suitable rule base selection in the proposed fuzzy controller are provided, which can guarantee the asymptotical stability of the system. Simulation and experimental studies are conducted to investigate the performance of the proposed fuzzy controller. It can achieve the desired turn angle and make the mobile robot follow the target trajectory satisfactorily.     

Inverse kinematics and inverse dynamics for control of a biped walking machine

Analytical techniques are presented for the motion planning and control of a 12 degree-of-freedom biped walking machine. From the Newton-Euler equations, joint torques are obtained in terms of joint trajectories, and the inverse dynamics are developed for both the single-support and double-support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force-moment and zero-moment point. This methodology has been used to obtain reference inputs and implement the feedforward control of walking robots. A simulation example illustrates the application of the techniques to plan the forward-walking trajectory of the biped robot. The implementation of a prototype mechanism and controller is also described.     

仿人机器人控制系统研究及其关节控制器设计

论述了由嵌入式计算机组成的3层仿人机器人控制系统,并详细介绍了其中的关节控制器。控制系统实行逐级控制,任务分散,提高了机器人的智能化程度。关节控制器选用TM320F2811型数字信号处理器作为处理器,具有全数字型、集成度高、体积小、功耗低、可实现多轴运动控制的特点。关节控制策略采用模糊PD结合传统PI调节的算法,实验结果表明这种控制算法具有较强快速性、精确性、鲁棒性。     

基于模糊PID算法的送餐机器人系统的设计

针对传统送餐机器人在送餐循迹过程中修正时间长、路径偏差大,运行不够智能化,设计了一种送餐机器人,该机器人具有循迹、避障、餐桌定位、语音播报和点餐等一体化功能.系统利用了一种基于模糊PID控制的导航系统,由位置偏差和位置偏差变化率作为模糊控制器的输入,电机的PWM占空比为控制系统的输出,缩短了送餐过程中的修正时间,并提高了路径的准确度.通过实验验证,本方案是有效可行的,实现了餐厅点餐和送餐的智能化,具有较好的应用及推广价值.