TY - GEN
T1 - Minitype servo controller design for humanoid robot joint system
AU - Wang, Hongjia
AU - Xu, Dianguo
AU - Yang, Ming
AU - Gui, Xianguo
PY - 2011
Y1 - 2011
N2 - Efficient manipulation and locomotion skills of a humanoid robot largely depends on the performance of the servo controllers which are used at wrists, elbows, shoulders, ankles, knees, and hip joints. The requirements for humanoid robot joint servo controller include small size, low dissipation, high power density, high response speed and high control precision. Aiming at these technical requirements, based on permanent magnet synchronous motor (PMSM) vector control theory, minitype servo controller is developed applying for humanoid robot joint drives. The design methods and solutions of every functional module are given. The current loop, speed loop and position loop control strategy are analyzed. And the thermal analysis is included. Experimental results show that the servo controller had good performance and is suitable for humanoid robot joint drive system.
AB - Efficient manipulation and locomotion skills of a humanoid robot largely depends on the performance of the servo controllers which are used at wrists, elbows, shoulders, ankles, knees, and hip joints. The requirements for humanoid robot joint servo controller include small size, low dissipation, high power density, high response speed and high control precision. Aiming at these technical requirements, based on permanent magnet synchronous motor (PMSM) vector control theory, minitype servo controller is developed applying for humanoid robot joint drives. The design methods and solutions of every functional module are given. The current loop, speed loop and position loop control strategy are analyzed. And the thermal analysis is included. Experimental results show that the servo controller had good performance and is suitable for humanoid robot joint drive system.
KW - humanoid robot
KW - joint control
KW - permanent magnet synchronous motor (PMSM)
KW - servo controller
KW - styling
UR - https://www.scopus.com/pages/publications/80052233741
U2 - 10.1109/ICIEA.2011.5975866
DO - 10.1109/ICIEA.2011.5975866
M3 - 会议稿件
AN - SCOPUS:80052233741
SN - 9781424487554
T3 - Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
SP - 1707
EP - 1711
BT - Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
T2 - 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Y2 - 21 June 2011 through 23 June 2011
ER -