基于STM32的力反馈型康复机器人控制系统设计

研究了一种基于STM32的力反馈型康复机器人控制系统的设计。采用位置传感器和扭矩传感器检测康复机器人机械臂的位置信息以及机械臂与患者的相互作用力信息,将位置信息与作用力信息送入基于ARM-M3内核的STM32微控制器进行处理,从而实现康复机器人中驱动电机的控制。该系统硬件处理电路包括了扭矩信号的信号调理单元、微控制器控制单元、电机驱动单元以及USB接口单元。经实验验证,本系统可以实现康复机器人的平稳安全的控制。

Control System Design for Rehabilitation Robot with Force Feedback Based on STM32

A control system for rehabilitation robot with force feedback is designed based on STM32.The position information of the rehabilitation robot manipulator and the interaction force information between the manipulator and the patients are measured by using the position sensor and the torque sensor.Then the position information and force information are sent to the STM32 microcontroller based on ARM M3 processing kernel to achieve driving motor control in the rehabilitation robots.The system hardware processing circuit includes the torque signal conditioning unit,the microcontroller control unit,the motor drive unit and USB interface unit.The safety and stability of the rehabilitation robot are proved by experiments.