CN107803832A - A kind of control system of robot leg guy structure - Google Patents

A kind of control system of robot leg guy structure Download PDF

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Publication number
CN107803832A
CN107803832A CN201710900090.3A CN201710900090A CN107803832A CN 107803832 A CN107803832 A CN 107803832A CN 201710900090 A CN201710900090 A CN 201710900090A CN 107803832 A CN107803832 A CN 107803832A
Authority
CN
China
Prior art keywords
joint
leg
controller
control
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710900090.3A
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Chinese (zh)
Inventor
杨洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Walker Robot Technology Co Ltd
Original Assignee
Shenzhen Walker Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Walker Robot Technology Co Ltd filed Critical Shenzhen Walker Robot Technology Co Ltd
Priority to CN201710900090.3A priority Critical patent/CN107803832A/en
Publication of CN107803832A publication Critical patent/CN107803832A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The present invention discloses a kind of control system of robot leg guy structure,Leg joint including robot,Leg shutdown includes big leg joint and calf joint,Knee rotating shaft is provided between leg joint and calf joint greatly,Big leg joint,Calf joint,The inside of knee rotating shaft is run through by bracing wire,One end of bracing wire is provided with feedback adjustment controller,The other end of bracing wire is provided with operation amplitude sensor,The bottom of shank shutdown is provided with sole,The bottom of sole is provided with gravity sensor,Feedback adjustment controller,Run amplitude sensor,Gravity sensor connects monolithic controller by signal transmission controller,Monolithic controller is internally provided with the motor control inductor for coordinating joint upset,The position of robot and joint angles information can carry out computing in the controller,Arithmetic speed is fast,The flexibility of hoisting machine people leg operation,It is novel in design,It is a kind of good innovation scheme.

Description

A kind of control system of robot leg guy structure
Technical field
The present invention relates to Study of Intelligent Robot Control field, more particularly to a kind of control system of robot leg guy structure System.
Background technology
Robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, can run again The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take For the work of human work, such as production industry, construction industry, or dangerous work.Robot arms typically use space open chain Linkage, kinematic pair (revolute pair or prismatic pair) therein are frequently referred to joint, and joint number is generally the freedom of robot The number of degrees.According to joint configuration and the difference of coordinates of motion form, robot actuating mechanism can be divided into Cartesian coordinate type, cylinder The types such as co-ordinate-type, polar coordinates type and joint coordinates formula.For the consideration to personalize, often by the relevant position of robot body point It is also known as pedestal, waist, arm, wrist, hand (clamper or end effector) and running part (for mobile robot) etc..
Drive device is to drive the mechanism of executing agency's motion, the command signal sent according to control system, by means of dynamic Power element is acted robot.What it was inputted is electric signal, and output is line, angular displacement, but in drive device work Before work, the more difficult control in leg, the more difficult support of operation Amplitude Ratio of leg is held, and action is bigger, so robot leg Guy structure control it is particularly important, and current control system flexibility is poor, and there is deficiency, it is impossible to meets the need of development Ask.
The content of the invention
For existing existing deficiency, actual use is influenceed, the present invention proposes a kind of robot leg guy structure Control system, novel in design, the flexibility of hoisting machine people leg operation, and control system is simple to operate, beneficial to manipulation, Practical performance is excellent.
To achieve these goals, technical scheme is as follows:
A kind of control system of robot leg guy structure, includes the leg joint of robot, and leg shutdown includes Big leg joint and calf joint, are provided with knee rotating shaft, big leg joint, calf joint, knee between big leg joint and calf joint The inside of lid rotating shaft is run through by bracing wire, and one end of bracing wire is provided with feedback adjustment controller, and the other end of bracing wire is set There is operation amplitude sensor, the bottom of shank shutdown is provided with sole, and the bottom of sole is provided with gravity sensor, feedback adjustment Controller, operation amplitude sensor, gravity sensor connect monolithic controller, monolithic controller by signal transmission controller Be internally provided with the motor control inductor for coordinating joint upset, one end of motor control inductor is provided with drive circuit, The other end of motor control inductor is provided with joint operation encoder.
Further, the modulate circuit series connection two-stage reverse amplification circuit of described gravity sensor, two-stage negater circuit is simultaneously Clamp circuit is associated with, clamp circuit is two-diode clamp circuit.
Dsp chip is used in monolithic controller of the present invention, monolithic controller receives photoelectric encoder and joint angle The feedback signal of sensor is spent, using fuzzy self-adaptive PID, motor-drive circuit is arrived in output control instruction, to closing Section motor is accurately controlled.
Further, the surface of described bracing wire is uniformly placed with rotary corner controller.
Include main control module, bluetooth module, client modules, motor driving mould in monolithic controller of the present invention Block, power module, main control module are connected by bluetooth module with client modules both-way communication, main control module signal output part with Motor drive module signal input part connects.
Further, described operation encoder is and the coaxial mounted photoelectric encoder of joint motor.
The beneficial effects of the invention are as follows:Simple in construction, the joint of robot leg individually controls by motor, passes through bracing wire Link together, lift the speed of service of joint motor, the position of robot and joint angles information can be in the controllers Middle carry out computing, arithmetic speed is fast, the flexibility of hoisting machine people leg operation, novel in design, is a kind of innovation side well Case.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description:
Fig. 1 is the structural representation of the present invention;
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below Conjunction is specifically illustrating, and the present invention is expanded on further.
Referring to Fig. 1, a kind of control system of robot leg guy structure, include the leg joint of robot, leg is closed Machine includes big leg joint and calf joint, and knee rotating shaft, big leg joint, shank are provided between big leg joint and calf joint Joint, the inside of knee rotating shaft are run through by bracing wire, and one end of bracing wire is provided with feedback adjustment controller 120, bracing wire The other end is provided with operation amplitude sensor 110, and the bottom of shank shutdown is provided with sole, and the bottom of sole is provided with gravity biography Sensor 130, feedback adjustment controller 120, operation amplitude sensor 110, gravity sensor 130 pass through signal transmission controller Monolithic controller 100 is connected, monolithic controller 100 is internally provided with the motor control inductor 140 for coordinating joint upset, electricity One end of machine control sensor 140 is provided with drive circuit 150, and the other end of motor control inductor 140 is provided with joint fortune Row encoder 160.
In addition, the modulate circuit series connection two-stage reverse amplification circuit of gravity sensor 130, two-stage negater circuit are parallel with pincers Position circuit, clamp circuit is two-diode clamp circuit.Monolithic controller uses dsp chip, and monolithic controller 100 receives photoelectricity The feedback signal of encoder and joint angles sensor, using fuzzy self-adaptive PID, motor is arrived in output control instruction Drive circuit, joint motor is accurately controlled.The surface of bracing wire is uniformly placed with rotary corner controller.Monolithic controller 100 Including main control module, bluetooth module, client modules, motor drive module, power module, main control module by bluetooth module with Client modules both-way communication is connected, and main control module signal output part is connected with motor drive module signal input part.Operation is compiled Code device 160 be and the coaxial mounted photoelectric encoder of joint motor.
Robot path is planned, and movement instruction is sent to each joint control of robot leg.It is each to close Controller is saved to corresponding joint motor drive circuit transmission of control signals, corresponding joint motor is controlled, and then controls Corresponding leg joint motions are made, each joint control receives the motor speed of motor encoder feedback, positional information, connect simultaneously The angle information fed back by corresponding angular transducer, fuzzy self-adaptive PID is used according to corresponding feedback information The accurate control to servomotor is realized, and then allows the robot to stably be walked according to surface state in real time.
The beneficial effects of the invention are as follows:Simple in construction, the joint of robot leg individually controls by motor, passes through bracing wire Link together, lift the speed of service of joint motor, the position of robot and joint angles information can be in the controllers Middle carry out computing, arithmetic speed is fast, the flexibility of hoisting machine people leg operation, novel in design, is a kind of innovation side well Case.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, above-described embodiment and explanation Merely illustrating the principles of the invention described in book, it is of the invention without departing from the spirit and scope of the present invention also to have respectively Kind changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by Appended claims and its equivalent define.

Claims (6)

1. a kind of control system of robot leg guy structure, include the leg joint of robot, it is characterised in that:Close leg Machine includes big leg joint and calf joint, and knee rotating shaft, big leg joint, shank are provided between big leg joint and calf joint Joint, the inside of knee rotating shaft are run through by bracing wire, and one end of bracing wire is provided with feedback adjustment controller, bracing wire it is another End is provided with operation amplitude sensor, and the bottom of shank shutdown is provided with sole, and the bottom of sole is provided with gravity sensor, instead Feedback adjustment controller, operation amplitude sensor, gravity sensor connect monolithic controller, monolithic by signal transmission controller Controller is internally provided with the motor control inductor for coordinating joint upset, and one end of motor control inductor is provided with driving Circuit, the other end of motor control inductor are provided with joint operation encoder.
A kind of 2. control system of robot leg guy structure according to claim 1, it is characterised in that:Described gravity The modulate circuit series connection two-stage reverse amplification circuit of sensor, two-stage negater circuit are parallel with clamp circuit, and clamp circuit is double Diode clamping circuit.
A kind of 3. control system of robot leg guy structure according to claim 1, it is characterised in that:Described monolithic Controller uses dsp chip, and monolithic controller receives the feedback signal of photoelectric encoder and joint angles sensor, using fuzzy Adaptive PID Control method, output control instruction arrive motor-drive circuit, joint motor are accurately controlled.
A kind of 4. control system of robot leg guy structure according to claim 1, it is characterised in that:Described bracing wire Surface be uniformly placed with rotary corner controller.
A kind of 5. control system of robot leg guy structure according to claim 1, it is characterised in that:Described monolithic Controller includes main control module, bluetooth module, client modules, motor drive module, power module, and main control module passes through bluetooth Module is connected with client modules both-way communication, and main control module signal output part is connected with motor drive module signal input part.
A kind of 6. control system of robot leg guy structure according to claim 1, it is characterised in that:Described operation Encoder be and the coaxial mounted photoelectric encoder of joint motor.
CN201710900090.3A 2017-09-28 2017-09-28 A kind of control system of robot leg guy structure Pending CN107803832A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710900090.3A CN107803832A (en) 2017-09-28 2017-09-28 A kind of control system of robot leg guy structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710900090.3A CN107803832A (en) 2017-09-28 2017-09-28 A kind of control system of robot leg guy structure

Publications (1)

Publication Number Publication Date
CN107803832A true CN107803832A (en) 2018-03-16

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109720435A (en) * 2018-12-29 2019-05-07 深圳市优必选科技有限公司 Robot gait adjustment method and device
CN110238853A (en) * 2019-06-18 2019-09-17 广州市威控机器人有限公司 A kind of joint series Mobile Robot Control System, remote control system and method
CN111290389A (en) * 2020-02-25 2020-06-16 北京理工大学 System and method for controlling foot-falling position of biped robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100036302A1 (en) * 2008-08-07 2010-02-11 Honda Motor Co., Ltd. Walking assistance device
CN101927492A (en) * 2010-06-23 2010-12-29 焦利民 Household intelligent robot system
CN105446345A (en) * 2015-07-02 2016-03-30 浙江大学 Control system of humanoid biped robot
CN106826763A (en) * 2017-01-23 2017-06-13 哈尔滨工业大学 For the flexible exoskeleton robot of climbing knee joint power-assisted
CN107137207A (en) * 2017-07-03 2017-09-08 哈尔滨工业大学 Drive lacking lower limb assistance exoskeleton robot based on rope pulley mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100036302A1 (en) * 2008-08-07 2010-02-11 Honda Motor Co., Ltd. Walking assistance device
CN101927492A (en) * 2010-06-23 2010-12-29 焦利民 Household intelligent robot system
CN105446345A (en) * 2015-07-02 2016-03-30 浙江大学 Control system of humanoid biped robot
CN106826763A (en) * 2017-01-23 2017-06-13 哈尔滨工业大学 For the flexible exoskeleton robot of climbing knee joint power-assisted
CN107137207A (en) * 2017-07-03 2017-09-08 哈尔滨工业大学 Drive lacking lower limb assistance exoskeleton robot based on rope pulley mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109720435A (en) * 2018-12-29 2019-05-07 深圳市优必选科技有限公司 Robot gait adjustment method and device
CN110238853A (en) * 2019-06-18 2019-09-17 广州市威控机器人有限公司 A kind of joint series Mobile Robot Control System, remote control system and method
CN111290389A (en) * 2020-02-25 2020-06-16 北京理工大学 System and method for controlling foot-falling position of biped robot
CN111290389B (en) * 2020-02-25 2021-05-14 北京理工大学 System and method for controlling foot-falling position of biped robot

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Application publication date: 20180316