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为实现微创血管介入手术机器人对手术工具的精确定位和稳定把持,设计了其控制系统及相应零位定位装置.首先介绍了机器人系统组成和基于PMAC(可编程多轴控制器)的上下位机控制系统构架.同时,设计了5次插值运动规划算法和关节运动的三环PID控制算法,提高了机器人响应速度和稳定性.为了确定机器人运动初始位置,提出了以霍尔传感器为基础,结合电机运动信号的零位找寻方法和装置.实验结果表明,该零位定位装置定位稳定且准确.
In order to achieve the precise positioning and stable control of surgical tools for minimally invasive vascular interventional robots, the control system and the corresponding zero positioning device are designed.Firstly, the robot system composition and the upper and lower positions based on PMAC (Programmable Multi-Axis Controller) Machine control system architecture.At the same time, five interpolation motion planning algorithms and three-loop PID control algorithm of joint motion are designed to improve the robot’s response speed and stability.In order to determine the initial position of the robot movement, The method and device for finding the zero position based on the motor motion signal are shown in the experimental results. The experimental results show that the zero position device is stable and accurate.