Synchronous Control Method and Simulation Research of Multi-degree of Freedom Humanoid Space Manipulator

The high-precision multi-joint synchronous control problem of the 7 DOF humanoid manipulator is studied. The control system uses a distributed control architecture based on EtherCAT. synchronization error causes tracking error between the end trajectory of the manipulator with theoretical trajectory. In order to achieve the purpose of high-precision synchronous control of manipulators, the kinematics model of manipulators is analyzed, and the method of network distributed clock control mode based on EtherCAT is proposed. Firstly, according to the source of synchronous error of the manipulator, the distributed network clock is used to calibrate the controller master station and the servo slave station to reduce the sampling and control synchronization error of each joint, and then improve the real-time performance of the main station Linux operating system. The station position command synchronization error is calibrated. Finally, the semi-physical simulation system of the joint and manipulator controller in the ring is designed. The simulation experiment analysis of the humanoid manipulator in the joint space and Cartesian space is carried out. The results show that the clock is distributed based on the EtherCAT network. The multi-joint synchronization control method can realize high-precision position control of the humanoid manipulator.