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Integral joint driver of humanoid robot

A humanoid robot and joint technology, applied in manipulators, joints, manufacturing tools, etc., can solve the problems of poor control of power density, heavy weight, and large joint driver volume, and achieve a wide range of output power, light weight and small size. Effect

Inactive Publication Date: 2010-08-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention proposes an integrated joint drive control system for humanoid robots in order to solve the problems of large volume, heavy weight and poor control of power density in the existing joint drives

Method used

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  • Integral joint driver of humanoid robot
  • Integral joint driver of humanoid robot

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Experimental program
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specific Embodiment approach 1

[0011] Specific implementation mode one, combine figure 1 To illustrate this embodiment, the humanoid robot integrated joint drive control system includes a power board 1, a control board 2 and a drive control power supply 3,

[0012] The power board 1 includes a DC-DC converter 1-1, a three-phase inverter bridge circuit 1-2, a bus voltage detection circuit 1-3, a drive / overcurrent protection circuit 1-4, a current detection circuit 1-5 and drive control interface circuit 1-6, the first inverter sampling coil L1 and the second inverter sampling coil L2,

[0013] The control panel 2 includes a DSP controller 2-1, a code disc processing module 2-2, an SCI interface circuit 2-3, a CAN interface circuit 2-4 and a power interface circuit 2-5,

[0014] The DC-DC converter 1-1 and the three-phase inverter bridge circuit 1-2 are connected in parallel between the positive and negative poles of the input DC power supply, and the output terminal of the DC-DC converter 1-1 is connected...

specific Embodiment approach 2

[0024] Specific implementation mode two, to combine figure 1 Describe this embodiment, the difference between this embodiment and the first embodiment is that the humanoid robot integrated joint drive control system also includes an EEPROM memory 2-6, and the communication port of the EEPROM memory 2-6 and the DSP controller 2-1 communication port connected.

[0025] The EEPROM memory 2-6 is interconnected with the DSP controller 2-1, and is used for storing control parameters. When the driver is initialized, the appropriate control parameters can be called independently. When the driver is running, it can load appropriate control parameters from EEPROM memory 2-6 as needed to achieve the best performance.

specific Embodiment approach 3

[0026] Specific implementation mode three, to combine figure 2 Describe this embodiment. This embodiment is a further description of the drive control power supply 3 in the first specific embodiment. The drive control power supply 3 includes a first step-down converter 3-1, a second step-down converter 3-2 and a third step-down converter 3-1. Step-down converter 3-3, the input terminal of the first converter 3-1 is connected to the input terminal of the external DC voltage, the first converter 3-1 converts the voltage to 12.5V, and the second step-down converter 3- 2 is connected to the output of the first converter 3-1, the second step-down converter 3-2 converts the voltage to 5V, and the input of the third step-down converter 3-3 is connected to the second converter 3-3 The output terminals of -2 are connected, and the third step-down converter 3-3 outputs voltages of 3.3V and 1.8V.

[0027] The drive control power supply 3 adopts a step-down cascade structure design to...

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Abstract

The invention discloses an integral joint driver of a humanoid robot, which relates to a robot joint driving control system. The system solves the problems of the traditional joint driver that the volume is large; the weight is large; and the power density is not easy to control. The system comprises a power board, a control board and a driving control power supply, wherein the power board comprises a direct current-direct current converter, a three-phase inverter bridge circuit, a bus voltage detecting circuit, a driving / overcurrent protecting circuit, a current detecting circuit and a driving control interface circuit; the control board comprises a controller, a code disc processing module, an SCI interface circuit, a CAN interface circuit and a power supply interface circuit. A DSP control chip is adopted, and the motion control function of the alternating current servo motor is realized. The system obtains the motor current and rotor position information obtained by sampling, a driving control signal is outputted, the communication with the upper computer is realized, and the integral monitoring management is realized through the upper computer. The system is suitable for the driving control field of robot joint with small volume, light weight and high power density.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a robot joint drive control system. Background technique [0002] Robotics is an application field that combines multiple disciplines and technologies. It integrates many sciences such as machinery, electronics, computers, materials, sensors, control technology, artificial intelligence, bionics, etc. It represents a country's high-tech development level and is one of the most active fields of scientific and technological development. Humanoid robot is the representative of the highest research achievements in the field of robot research. Its ultimate research goal is to develop an advanced intelligent robot that has human characteristics, replaces and serves humans to a considerable extent, and can coexist harmoniously with humans. The stability and intelligence of the movement and the modular design of the multi-degree-of-freedom joint mechanism are the guarantees for the flexible...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J17/00
Inventor 杨明王宏佳徐殿国
Owner HARBIN INST OF TECH