STM32的医疗康复机器人手臂控制系统  

Arm Control System of Medical Rehabilitation Robot Based on STM32

作　　者：郭志阳[1] 陈学英[1] 

机构地区：[1]电子科技大学电子工程学院,成都610054

出　　处：《单片机与嵌入式系统应用》2015年第12期66-69,共4页Microcontrollers & Embedded Systems

摘　　要：医疗康复机器人是近年出现的一种新型机器人,主要功能是帮助患者完成各种运动功能恢复训练。为此提出通过STM32微控制器控制无刷直流电机来控制机器手臂的运转,并通过Simulink建立PID模型,运用XPC_Target和控制板进行通信,以此得到电机在调速过程中合适的PID参数,使机器手臂在运转的过程中更加平滑。实际的临床试验操作证明,该系统能够较好地完成手臂的医疗康复训练。The medical rehabilitation robot is a new type of robot in recent years,which helps the patients to complete some motor func- tion recovery training. In the paper,the STM32 microcontroller is used to control the brushless DC motor for controlling the operation of the machine arm. The PID model is established by Simulink,XPC Target and the control panel are used for communication, so the suit- able parameters in the speed control process can be gotten. Then the robotic arm can run more smoothly. The clinical trials prove that the system can complete the medical rehabilitation training on the arm.

关 键 词：医疗康复机器人手臂 STM32 PID SIMULINK IR2130 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]