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

作　　者：刘莉[1] 刘洁[1] 张锦[1] LIU Li;LIU Jie;ZHANG Jin(Institute of mechanical and electrical engineering,Suqian College,Suqian 223800,Jiangsu,China)

机构地区：[1]宿迁学院机电工程学院,江苏宿迁223800

出　　处：《电气传动》2019年第4期67-71,共5页Electric Drive

基　　金：江苏省高等学校自然科学研究项目资助(17KJB470013);江苏省第十四批"六大人才高峰"人才资助项目(GDZB-167);江苏高校品牌专业建设工程资助项目(PPZY2015C252);宿迁市科技计划项目(Z201739)

摘　　要：为了提高微创手术机器人的实时性、安全性,设计了一种基于现场可编程门阵列(FPGA)的微创外科手术机器人运动控制系统。采用集中计算分布控制结构,工业计算机作为主站完成主、从臂的正逆运动学、主从映射和主从控制算法。同时,提出了一种分布式的主、从操作臂同步控制算法,利用通信拓扑学理论,对主、从操作臂之间的同步误差进行定义,在约束条件下,对主、从操作臂的同步控制算法进行了详述,并利用Lyapunov函数对算法进行了稳定性分析。最后,实验结果表明:该方法能够实现机器人系统的主、从轨迹跟踪控制。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 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]