基于ARM微控制器的医疗机器人主从夹持控制系统设计与实现  

Design and Implementation of Master - Slave Grasping Control System for Medical Robot Based on ARM Microcontroller

作　　者：邱波[1] 李群智[1] 王惠娟[1] 王树新[1] 丁杰男[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机电一体化》2006年第6期71-75,共5页Mechatronics

摘　　要：利用ARM微控制器,基于自主研发的医疗机器人用关节式主操作手和从操作手手指,构建了主从遥操作夹持控制系统。其中,设计了AT91RM9200 ARM微控制器与外围器件的硬件电路,并在运行于硬件平台的LINUX操作系统上开发了相应的硬件驱动程序。This paper presents a method of using ARM microcontroller to build a grasping control system of master - slave teleoperated manipulation. This system is built based on the articulated master manipulator and the slave manipulator＇s finger used for medical robot which were designed independently by our lab. In this system, the hardware circuit of the AT91 RM9200 ARM microcontroller and its peripheral devices is designed, and the hardware device drivers on the LINUX operating system which is run on the hardware platform are developed.

关 键 词：医疗机器人 主从遥操作 AT91RM9200 ARM微控制器 LINUX 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]