连续型结肠镜机器人多电机控制系统设计  

Multi-motor Control System of a Continuum Robot for Colonoscopy

作　　者：胡海燕[1] 孙立宁[1] 李满天[1] 肖滔[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《微电机》2011年第8期32-35,共4页Micromotors

基　　金："863"计划;2007AA042105;长江学者创新团队计划资助项目(IRT0423)

摘　　要：连续型结肠镜机器人在结构上分为5节,每节各具有2个自由度,分别由2个直流伺服电机实现。在分析了连续型结肠镜机器人机械结构的基础上,设计了采用两级分布式结构的控制系统,其上层结构为PC机,采用由VC++6.0与OPGL联合开发的基于Windows平台的软件系统;下层结构由基于DSP芯片的电机运动控制器和以LMD18200为核心的电机驱动器组成;上、下层结构之间通过CAN总线进行通讯。最后进行了原理样机弯曲实验,以验证了控制系统的可行性。The continuum robot for colonoscopy consists of 5 sections, each section has 2 degrees of freedom （DOF） and driven by 2 DC servo motors. Based on the analysis of the mechanical structure of continuum robot for colonoscopy, a distributed control system with two levels was designed. The upper-level control system is based on PC, and the Windows based software is developed with VC ＋＋ 6. 0 and OPGL. The down- level control system is composed of motion controllers with DSP chips and motor drivers with LMD18200 chips. The CAN bus is used to realized the communication between upper-level and down-level of control system. The prototype experiments were carried out to validate the feasibility of control system.

关 键 词：连续型机器人 内窥镜机器人 控制系统 DSP 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]