dVRK外科机器人操纵臂建模与控制  

Modeling and Control of dVRK Surgical Robot Master Tool Manipulator

作　　者：翟文正[1,2] ZHAI Wenzheng(School of Cyberspace Security,Changzhou College of Information Technology,Changzhou Jiangsu 213164,China;Microelectronic R&D Center,Shanghai University,Shanghai 200072,China)

机构地区：[1]常州信息职业技术学院网络空间安全学院,江苏常州213164 [2]上海大学微电子研究与开发中心,上海200072

出　　处：《机床与液压》2021年第15期162-167,共6页Machine Tool & Hydraulics

基　　金：常州信息职业技术学院青年基金(CXKZ201911Q);常州信息职业技术学院优秀中青年教师境外研修计划(CCITFX201802);常州信息职业技术学院科研平台(PYPT201805Z)。

摘　　要：为提高dVRK外科机器人主操纵臂控制系统的快速响应性和控制实时性,开发一种基于Simulink Real-Time和实时目标机Speedgoat的外科机器人主操纵臂实时控制系统。利用D-H法建立主操纵臂坐标系并推导运动方程,通过设计和建立位置控制算法和仿真模型,设计UDP Real Time通信指令和相关应答机制,构建了“宿主机-目标机”的机器人实时控制系统。试验结果表明,系统实时准确地完成了外科机器人操纵臂的数据采集和相关控制算法验证。A real⁃time control system for the master tool manipulator(MTM)of dVRK surgical robot based on Simulink Real-Time and Speedgoat target machine was developed to improve the fast response and real⁃time control.The D-H method was used to es⁃tablish the coordinate system of the MTM and deduce the motion equation.By designing and establishing the position control algorithm and simulation model,the UDP Real Time communication command and relevant response mechanism were designed,and a real⁃time control system for“host machine⁃target machine”was constructed.The experimental results show that the real⁃time control system can accurately and reliably complete the real⁃time data acquisition and related control algorithm verification of surgical robot.

关 键 词：外科机器人 实时控制 操纵臂 归航定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]