Title :
Control system of mobile microrobot based on DSP
Author :
Sun, Lining ; Li, Mantian ; Chu, Yanyan
Author_Institution :
Robot Res. Inst., Harbin Inst. of Technol., China
Abstract :
The mobile microrobot has a biped structure with four joints, driven by four DC-motors. The two legs of the microrobot are supported by the electromagnetic feet that provide the robot with the ability to walk on the horizontal and vertical electromagnetic surface. DSP motor controllers provide the unique on-chip peripherals and computational power needed to implement multimotor control applications. This paper presents a detailed description of the controller design for the mobile microrobot using a single LF2407 DSP chip. Finally, the fuzzy control strategy is given.
Keywords :
DC motors; controllers; digital signal processing chips; fuzzy control; legged locomotion; machine control; microrobots; DC motor; DSP motor controller; biped structure; controller design; electromagnetic feet; fuzzy control; mobile microrobot control; multimotor control application; on-chip peripheral; Circuits; Control systems; Digital signal processing; Digital signal processing chips; Energy consumption; Leg; Legged locomotion; Pulse width modulation; Robot sensing systems; Tactile sensors;
Conference_Titel :
Electrical Machines and Systems, 2003. ICEMS 2003. Sixth International Conference on
Conference_Location :
Beijing, China
Print_ISBN :
7-5062-6210-X
