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

Abstract

[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.