Research and Design of Distributed Controllers for Mechanical Arms of Humanoid Robot Based on FCS

According to the high real-time and the high anti-interference which required by the machanical arms of humanoid robot, a distributed controllers for mechanical arms of humanoid robot system based on CAN is developed, to which C8051F041 micro controller is applied as the joint controllers. The circuits of incremental discs and speed detection as well as their applications are designed. The achievement of develop and design on distributed controllers for six degrees of freedom mechanical arms fulfills the trajectory requirement of humanoid robot qualification and the system according to the study design.