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基于自主研发的MRI(核磁共振成像)导航针刺手术机器人,搭建了机器人气动控制系统.建立了开关阀控气缸、气缸摩擦力及长气管等数学模型,设计了模糊PID(比例–积分–微分)控制器,并在此基础上进行了PWM(脉宽调制)信号的线性分解.模拟仿真和实验验证结果均表明模糊PID控制器对系统具有较高的位置控制精度及轨迹跟踪能力.结合机器人进行针刺精度实验,结果显示针刺精度误差为0.79 mm,满足精度要求.
Based on self-developed MRI (Magnetic Resonance Imaging) guided navigation acupuncture robotic manipulator, a robot pneumatic control system was set up.Meanwhile, mathematical models of on-off valve, cylinder friction and long-pipe were established, and fuzzy PID (Proportional-Integral- ) Controller, and based on which PWM (Pulse Width Modulation) signal is decomposed linearly.The results of simulation and experimental verification show that the fuzzy PID controller has high position control precision and trajectory tracking ability to the system.Combined with the robot Accuracy of acupuncture experiments showed that acupuncture accuracy error of 0.79 mm, to meet the accuracy requirements.