Precise resetting system of humanoid robot initial position

Abstract

The invention relates to a precise resetting system of humanoid robot initial position, comprising a control command transmitting module, an upper-layer command communication module, a reset controller module, a reset actuator module, a lower-layer data communication module and an angle acquisition module, wherein a reset control command transmitted by the control command transmitting module is transmitted to the CPU of the reset controller module via the upper-layer command communication module; the CPU starts resetting, and the lower-layer data communication module controls the angle acquisition module to detect the angels of a position inclination angle sensor and a gyroscope installed on the joint and the body of the humanoid robot; after the angles are compared with the angle preset in the CPU, the error value is transmitted to the reset actuator module via the upper-layer command communication module to control the motor to reset; then, the reset controller module detects reset error angle and transmits to an upper-layer real time computer via the upper-layer command communication module to finish one-time resetting. The invention can ensure that the humanoid robot can quickly and stably restore to the same accurate initial position at any time.

Description

technical field [0001] The invention relates to a system for accurately resetting the initial position of a humanoid robot, which can automatically restore the humanoid robot to the same precise initial position set by the system at any time, and can detect the joints of the robot caused by mechanical air travel and joint looseness. The error angle value. The invention belongs to the field of robot control, computer and automation technology. Background technique [0002] The goal of a humanoid robot is to imitate operations that humans can perform. The accuracy, stability and flexibility of motion control directly determine whether a humanoid robot can imitate human motion. In order to realize the accurate, stable and flexible control of the humanoid robot, it is necessary to reset the motion joints of the human body to a precise initial position before performing motion control on it. If the humanoid robot is in an unstable initial position after reset, it may cause the...

AI Technical Summary

Problems solved by technology

However, since the potentiometers, limit switches and other angle detection components used must be installed on the output shaft of the motor, they will move relative to the motor when the motor rotates, and loosening will occur after a long time, resulting in a decrease in reset accuracy

Therefore, this reset method requires regular zero adjustment, which is not only troublesome but also time-consuming

Since this method generally adopts open-loop control, there is a control error, and this method cannot detect the loose joints and the space error angle of each joint, so it cannot be restored to an accurate initial position every time during the reset process

[0006] The third method is to realize the reset by detecting the pulse of the incremental code disc installed on the joint motor or the position of the absolute code disc. Although this method has a high reset accuracy, it is also unable to detect the position of each joint due to mechanical space travel and joint looseness. The resulting error angle, due to the existence of accumulated errors, the humanoid robot cannot finally return to an accurate initial position

However, this reset method relies on various sensors installed on the humanoid robot and is not universal

Moreover, each reset must be performed on an absolutely horizontal metal plate to fully return to the precise initial position. The reset work is not only troublesome but also time-consuming

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