Title: Design and Realization of Humanoid Robot Control System Based on DSP,FPGA and Fuzzy Self-adjusting PID Control
Abstract: A fully autonomous humanoid robot distributed motion control system was designed,in which bottom-layer control unit dual DSP was used as the main processor and FPGA control block was used to complete the DSP peripheral complex decoding circuitry and the multiplier,phase,calculation,image processing.The design processes of the processor's peripheral devices and the feedback loop were given.A self-adjusting PID control strategy based fuzzy rules was proposed based on cutting-edge control theory.Through the MATLAB simulation,the results show control system can be embedded into the robot's body,it has simple structure,strong anti-jamming capability,high reliability,etc.The research work plays an active role in the further development of the whole autonomous humanoid robots.
Publication Year: 2011
Publication Date: 2011-01-01
Language: en
Type: article
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