基于Simulink Real-Time的dVRK机械臂实时控制研究

为提高dVRK外科机器人控制系统的快速响应性和控制实时性，基于D-H参数模型建立dVRK 七自由度机械臂的连杆模型。计算机械臂的齐次变换矩阵，为机械臂的实时控制提供参考。基于MATLAB/Simulink建立机械臂各关节的PID位置控制半实物仿真模型，实现机械臂末端的实时定点控制。结果表明：所提系统可实时准确地完成外科机器人机械臂的数据采集和相关控制算法的验证。

Research on Real-Time Control of dVRK Surgical Robot Patient Side Manipulator Based on Simulink Real-Time

To improve the quick response and real-time control performance of dVRK surgical robot control system,a dVRK 7 DOF manipulator link model was established based on D-H parameter model,the homogeneous transformation matrix of the manipulator was calculated to provide reference for the real-time control of the manipulator.Based on MATLAB/Simulink,the semi physical simulation model of PID position control for manipulator each joint was established,and the real-time fixed-point control of the manipulator end was realized.The results show that by using the proposed system,the data acquisition and control algorithm verification of surgical robot manipulator can be completed in real-time and accurately.