Control system of electrically driven quadruped robot

Abstract

The invention relates to a control system of an electrically driven quadruped robot. The control system comprises an upper computer, an industrial computer, a driver and an encoder, wherein the industrial computer is connected with the upper computer to transmit data, and the industrial computer and the encoder are both connected with the driver; the encoder is fixed at the output end of the jointmotor and used for detecting the rotation angle of the joint motor; rotation angles of joints are obtained through the pulse number measured by the encoder and the reduction ratio of a joint reducer,the encoder uploads the pulse number to the driver, the driver uploads the filtered pulse value to the industrial personal computer, then, the industrial personal computer runs, and the output torqueof each joint of the robot is obtained and converted into a current value to be transmitted to the driver; the driver outputs given torque by the motor through a built-in current loop, and flexible optimization of a single leg and optimization of collision energy are realized. The energy loss caused by contact of the single leg with ground is reduced, overall real-time performance and reliabilityof a hardware system and high-speed movement of the quadruped robot are improved, and good dynamic stability and high energy efficiency can be maintained.

Description

Technical field [0001] The invention relates to a control system for an electric drive quadruped robot, belonging to the technical field of electric drive quadruped robot control. Background technique [0002] Legged robots have always been a hot research field for mobile robots. Legged robots outperform wheeled robots in terms of dynamic stability and adaptability to complex terrain. As a popular branch of leg-footed robots, electrically driven robots have the above advantages. Electric drive robots refer to robots that use torque motors as the key unit for driving joint motions, which are divided into direct drive mode, collimated drive mode and SEA mode. [0003] The direct-drive electric drive robot directly connects the output shaft of the motor with the joint link. This drive method has the best control effect, but it has higher requirements on the torque motor. The current pure output torque of the torque motor cannot reach high torque. Performance, and higher performance ...

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Problems solved by technology

However, since none of the professional real-time systems are used, the real-time system performa

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