論述了由嵌入式計(jì)算機(jī)組成的3 層仿人機(jī)器人控制系統(tǒng)，并詳細(xì)介紹了其中的關(guān)節(jié)控制器?？刂葡到y(tǒng)實(shí)行逐級(jí)控制，任務(wù)分散，提高了機(jī)器人的智能化程度。關(guān)節(jié)控制器選用TM320F2811 型數(shù)字信號(hào)處理器作為處理器，具有全數(shù)字型、集成度高、體積小、功耗低、可實(shí)現(xiàn)多軸運(yùn)動(dòng)控制的特點(diǎn)。關(guān)節(jié)控制策略采用模糊PD 結(jié)合傳統(tǒng)PI 調(diào)節(jié)
的算法，實(shí)驗(yàn)結(jié)果表明這種控制算法具有較強(qiáng)的快速性、精確性、魯棒性。
關(guān)鍵詞：仿人機(jī)器人；計(jì)算機(jī)分層控制；關(guān)節(jié)控制；模糊控制；DSP
Abstract: A type of humanoid robot control system with 3-levels frame composed of embedded computers was introduced in detail, and the joint controller in the system was discussed. The control system distributes tasks to all embedded computers among 3
levels, so that the intelligent degree of robot is enhanced. The joint controller based on DSP TMS320F2811 features: full digital control, high integration level, small size, low power dissipation, multi-axis motion control. Control algorithm used by the joint controller is fuzzy PD algorithm combined with conventional PI algorithm. Experimental results showed that this control algorithm had better tracking performance, accuracy and more robustness.
Key words: humanoid robot; multi-levels computer control; joint control; fuzzy control; DSP