論述了由嵌入式計算機組成的3 層仿人機器人控制系統，并詳細介紹了其中的關節控制器。控制系統實行逐級控制，任務分散，提高了機器人的智能化程度。關節控制器選用TM320F2811 型數字信號處理器作為處理器，具有全數字型、集成度高、體積小、功耗低、可實現多軸運動控制的特點。關節控制策略采用模糊PD 結合傳統PI 調節
的算法，實驗結果表明這種控制算法具有較強的快速性、精確性、魯棒性。
關鍵詞：仿人機器人；計算機分層控制；關節控制；模糊控制；DSP
Abstract: A type of humanoid robot control system with 3-levels frame composed of embedded computers was introduced in detail, and the joint controller in the system was discussed. The control system distributes tasks to all embedded computers among 3
levels, so that the intelligent degree of robot is enhanced. The joint controller based on DSP TMS320F2811 features: full digital control, high integration level, small size, low power dissipation, multi-axis motion control. Control algorithm used by the joint controller is fuzzy PD algorithm combined with conventional PI algorithm. Experimental results showed that this control algorithm had better tracking performance, accuracy and more robustness.
Key words: humanoid robot; multi-levels computer control; joint control; fuzzy control; DSP