Minitype servo controller design for humanoid robot joint system

Abstract

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.