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Electronics improvements for low-level control in the humanoid robot TEO

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2021_Garcia_Haro_Juan_Electronics-improvements-low-level-control-humanoid-robot-TEO.pdf (2.482Mb)
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http://hdl.handle.net/2183/28386
Atribución-NoComercial-CompartirIgual 4.0 Internacional 
https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es
A non ser que se indique outra cousa, a licenza do ítem descríbese como Atribución-NoComercial-CompartirIgual 4.0 Internacional https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es
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  • Jornadas de Automática (42ª. 2021. Castellón) [103]
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Título
Electronics improvements for low-level control in the humanoid robot TEO
Autor(es)
García Haro, Juan Miguel
Oña, Edwin Daniel
Santos Rico, Raul de
Martínez, Santiago
Balaguer, Carlos
Data
2021
Cita bibliográfica
Garcia-Haro, J.M., Oña, E.D., Santos-Rico, R. de, Martinez, S., Balaguer, C. Electronics improvements for low-level control in the humanoid robot TEO. En XLII Jornadas de Automática: libro de actas. Castelló, 1-3 de septiembre de 2021 (pp.528-534). DOI capítulo: https://doi.org/10.17979/spudc.9788497498043.528 DOI libro: https://doi.org/10.17979/spudc.9788497498043
Resumo
[Abstract] This work began with developing the first electronic integration to allow the operation of commercial TEO devices pre-selected. However, different problems were discovered during the implementation of the whole set. These were caused by the malfunction of the system and the particular design. For this reason, this paper is focused on the analysis of the first hardware architecture to propose and develop a solution that improves the performance of the joint motor control.Significantly, the detected problems are voltage drops in the power supply signals of some devices, electrical noise coupling or overshoots produced by the switching of the power inverter of the driver, and the electromechanical disconnections of various signals caused by the relative motion between devices. The consequence was that the robot joints control was not robust, preventing them from moving accurately. After the analysis, new interconnection electronics was developed. This electronic has been designed to be more integrated with the mechanic parts, improving subsystems location, and integrating new solutions to reduce the electrical problems. The new electronics have been tested in the humanoid robot arms with good results.
Palabras chave
Low-level control
Humanoid
Electronics
 
Versión do editor
https://doi.org/10.17979/spudc.9788497498043.528
Dereitos
Atribución-NoComercial-CompartirIgual 4.0 Internacional https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es
ISBN
978-84-9749-804-3

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