| 微创血管介入手术机器人控制系统与零位定位装置设计 |
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| 引用本文： | 段星光,陈悦,于华涛.微创血管介入手术机器人控制系统与零位定位装置设计[J].机器人,2012(2):129-136. |
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| 作者姓名： | 段星光 陈悦 于华涛 |
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| 作者单位： | 北京理工大学智能机器人研究所;仿生机器人与系统教育部重点实验室 |
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| 基金项目： | 国家863计划资助项目(2009AA044002,2009AA045201);教育部高等学校博士点基金资助项目(20111101110004) |
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| 摘 要： | 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.
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| 关 键 词： | 医疗机器人 血管介入手术 PID控制 零位定位 |
Design of the Control System and Home Point Positioning Device for Minimally Invasive Vascular Interventional Surgery Robot |
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| DUAN Xingguang,CHEN Yue,YU Huatao.Design of the Control System and Home Point Positioning Device for Minimally Invasive Vascular Interventional Surgery Robot[J].Robot,2012(2):129-136. |
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| Authors: | DUAN Xingguang CHEN Yue YU Huatao |
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| Affiliation: | 1,2) (1.Intelligent Robot Institute,Beijing Institute of Technology,Beijing 100081,China; 2.MOE Key Laboratory of Bionic Robot and System,Beijing 100081,China) |
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| Abstract: | To realize the accurate positioning and stable holding of surgical tools by minimally invasive vascular interventional surgery(VIS) robot,a control system and a home point positioning device are designed.Constitutions of the robot system and its upper-lower control system based on PMAC(programmable multi-axis controller) are introduced firstly. Meanwhile,the quintic interpolation motion planning and three-loop PID algorithms are designed,which improve both the robot’s response speed and stability.To find the base point of the robot’s motion,the home point positioning method and device are proposed based on Hall sensors and information of motor motion.The experiment results show that the presented home point positioning device works stably and accurately. |
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| Keywords: | medical robot vascular interventional surgery PID control home point positioning |
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