Study On Humanoid Robot Joint Servo Control System Based On CAN-Bus

Humanoid robot, which is one of the greatest inventions in the 20th century, is the advanced representation of robot technique. As the core of the robot's functions, the performance of control system decides the technical level of a robot directly, so the research on robot control system has an important practical meaning for development of humanoid robot technology. The work in this thesis is a part of the project "Humanoid Biped Robot Technology and Their Applications", focused on control system of humanoid robot THBIP-I, and is supported by the Tsinghua University 985 projects. We have made a systematical investigation on humanoid robot control system abroad and inland, and analyzed the components, hierarchical structure and the special requirement of the biped humanoid robot prototype. Through comparison and demonstrability, we presented a project of the distributed field bus control system based on CAN-Bus. Then we presented a distributed dual-subnet servo control system based on CAN-Bus for the biped robot THBIP-I. The hardware and software design of the coordination level and execution level of the control system is clearly given in the thesis.This control system is built on embedded platform. In the matter of hardware, distributed dual-subnet structure is used to reduce the complexity of system and to increase the stability of system; in the matter of software, dual-subnet alternate communication technique is brought and used to improve the utilization of CAN module. Moreover, the redundant transmission of data is avoided by optimization of the communication protocol of CAN application level, and the utilization of network bandwidth is increased too.Due to the standard hardware platform, communication bus and develop language, the control system has a quite good portability. The cost of the system development and maintenance is also greatly decreased for the standard device and modularized design. Thus the deficiency of the current control system of the humanoid robot is solved.Finally, the thesis designed and made a common experimental platform for robot joint, and completed master control software in Windows OS in order to test the control system, and the platform has great practical value on control system research.It's proved by experiment that the distributed dual-subnet control system based on CAN-Bus has good control quality and is fit for THBIP-I control environment.