基于Simulink Real-Time的dVRK机械臂实时控制研究  

Research on Real-Time Control of dVRK Surgical Robot Patient Side Manipulator Based on Simulink Real-Time

作　　者：翟文正[1,2] ZHAI Wenzheng(School of Cyberspace Security,Changzhou College of Information Technology,Changzhou Jiangsu 213164,China;Microelectronic Research and Development 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》2022年第15期53-58,共6页Machine Tool & Hydraulics

基　　金：江苏高校“青蓝工程”资助项目;常州信息职业技术学院青年基金项目(CXKZ201911Q)。

摘　　要：为提高dVRK外科机器人控制系统的快速响应性和控制实时性,基于D-H参数模型建立dVRK七自由度机械臂的连杆模型。计算机械臂的齐次变换矩阵,为机械臂的实时控制提供参考。基于MATLAB/Simulink建立机械臂各关节的PID位置控制半实物仿真模型,实现机械臂末端的实时定点控制。结果表明:所提系统可实时准确地完成外科机器人机械臂的数据采集和相关控制算法的验证。To improve the quick response and real-time control performance of dVRK surgical robot control system,a dVRK 7 DOF manipulator link model was established based on D-H parameter model,the homogeneous transformation matrix of the manipula⁃tor was calculated to provide reference for the real-time control of the manipulator.Based on MATLAB/Simulink,the semi physical simulation model of PID position control for manipulator each joint was established,and the real-time fixed-point control of the manip⁃ulator end was realized.The results show that by using the proposed system,the data acquisition and control algorithm verification of surgical robot manipulator can be completed in real-time and accurately.

关 键 词：D-H参数 dVRK机械臂 实时控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]