Research and design on distributed controllers for mechanical arms of humanoid robot

Distributed control system based on RS-485 bus for mechanical arms is put forward to improve control performance of mechanical arm of humanoid robot. Motion planning algorithms operate on host computer, which communicates distributed controllers with RS-485 bus, with responsibility for cooperation of each joint. Research and design on distributed controller for six degrees of freedom mechanical arm was accomplished, adopting TMS320F240DSP as the MPU. It was indicated by experimental results that the distributed control system could control the operation of each joint motor steady to track the set trajectory exactly in real time with RS-485 bus and that the system performance had fulfilled design requirements.