电气传动2019，Vol.49Issue(4)：67-71,5.DOI:10.19457/j.1001-2095.dqcd18447
基于FPGA的微创外科手术机器人运动控制系统的设计
Design of Motion Control System for Minimally Invasive Surgical Robot Based on FPGA
摘要
Abstract
In order to improve the real-time and safety of minimally invasive surgical robot,a motion control system of minimally invasive surgical robot based on field programmable gate array(FPGA)was designed. The calculation of distributed control structure,kinematics,mapping and master-slave control algorithm,inverse industrial computer as the master to complete the master-slave arm at the same time,the synchronization control algorithm of a distributed master-slave manipulator,used communication topology theory,the definition of the synchronization error between the master-slave manipulator,under the constraint condition,synchronous controlled the algorithm of master-slave manipulators was introduced,and the algorithm stability was analyzed by used the Lyapunov function. Finally,the experimental results show that this method can realize the master and slave trajectory tracking control of the robot system.关键词
微创外科/主从控制策略/现场可编程门阵列/手术机器人Key words
minimally invasive surgery/master slave control strategy/field programmable gate array(FPGA)/surgical robot分类
信息技术与安全科学引用本文复制引用
刘莉,刘洁,张锦..基于FPGA的微创外科手术机器人运动控制系统的设计[J].电气传动,2019,49(4):67-71,5.基金项目
江苏省高等学校自然科学研究项目资助(17KJB470013) （17KJB470013）
江苏省第十四批"六大人才高峰"人才资助项目(GDZB-167) （GDZB-167）
江苏高校品牌专业建设工程资助项目(PPZY2015C252) （PPZY2015C252）
宿迁市科技计划项目(Z201739) （Z201739）
