A Research Of Humanoid Manipulator Design And Its Control Algorithm

Limited by the sensing technology and intelligent control technology,the robot can not accomplish the target task autonomously according to the demand in the face of complex and uncertain task environment.At this stage,the advancement of artificial intelligence mainly stays at the level of computational intelligence.The advancement of computer computing power and data processing algorithms solves various information problems well.At the level of motion intelligence,there are still many deficiencies.Robots generally only fix them.Mission,unable to carry out autonomous planning campaigns based on the ultimate goal.Therefore,in the stage of weak artificial intelligence to strong artificial intelligence,remote synchronous reality technology is needed to make the transition,and people can make up for the shortcomings of current robot sensing,decision-making and control.Remote synchronization reality is mainly divided into two parts.Synchronization uses the human body wearing device to capture motion data.In reality,a humanoid robot follows the human hand movement,and the pressure data that is felt is fed back to the wearable device.The wearable device part also has a force feedback structure that restores the pressure of the robot to the human hand.This paper mainly studies the structural design,hardware circuit design,embedded software design,motor drive control and motion control algorithm of humanoid manipulator.The humanoid robot mentioned in the text includes two parts: a mechanical palm and a mechanical arm.The humanoid manipulator structure design was modeled by CREO 5.0,and the kinematics and dynamics of the manipulator are simulated using MATLAB.The STM32F4 series MCU was used to design a small-power,small-volume permanent magnet synchronous motor servo drive.Simultaneous sampling with ADC and PWM was used to collect the phase current of the permanent magnet synchronous motor,and the sampling frequency reaches 20 kHz.The motor was modeled using the S function in MATLAB/Simulink,and the motor was controlled by field oriented control(FOC).In the aspect of motor drive control,the classical auto disturbance rejection control(ADRC)was simulated and analyzed.The system was identified by the recursive least squares method with forgetting factor.The identification result was introduced into the system feedforward,and the identified system parameters are combined with known.The auto disturbance rejection control of the system part model controls the motor.Finally,using the spin theory,the forward and inverse kinematics analysis of the humanoid manipulator was carried out,and the motion control program was written into the STM32F7 main controller for verification.In this paper,the above motor control algorithm was realized by using embedded software.The position control,speed control and current control of the motor reach the control frequency of 20 kHz.The operation time of the control algorithm is reduced to less than 20?s,and the dynamic tracking accuracy of the position control is within ±20 pulses.12-bit incremental encoder).The main controller can receive the wireless serial port information of the wearable device,thereby controlling the robot to synchronize the human hand posture and feedback the pressure data in real time,and the synchronization control period is 20 ms.