Distributed control system of DC servomotors for six legged walking robot

Author

Belter, D. ; Walas, K. ; Kasinski, A.

Author_Institution

Inst. of Control & Inf. Eng., Poznan Univ. of Technol., Poznan

fYear

2008

fDate

1-3 Sept. 2008

Firstpage

1044

Lastpage

1049

Abstract

The multi-layered drives control for walking robot is discussed. It is a six-legged robot with 18 DOF. There is one DC-Servomotor for each joint. Synchronization of drives is a matter as walking is performed in unpredictable environment, and under high measurement uncertainty. It is done through distributed control of the robot. Each leg has itpsilas separate controller. Leg controllers are connected to robot master controller. The master controller is responsible for communication between legs and host computer. The article also addresses sensing system issues for walking robot and control loops closed through these sensors.

Keywords

DC motors; distributed control; legged locomotion; machine control; robots; servomotors; DC servomotors; control loops; distributed control system; leg controllers; multilayered drive control; robot master controller; six legged walking robot; Communication system control; Distributed control; Drives; Leg; Legged locomotion; Measurement uncertainty; Performance evaluation; Robot control; Robot sensing systems; Servomotors; Control of Drive; DC Machine; Robotics; Servo-drive;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics and Motion Control Conference, 2008. EPE-PEMC 2008. 13th

Conference_Location

Poznan

Print_ISBN

978-1-4244-1741-4

Electronic_ISBN

978-1-4244-1742-1

Type

conf

DOI

10.1109/EPEPEMC.2008.4635405

Filename

4635405