基于模糊PID控制的智能艾灸机械臂设计  

Design of Intelligent Moxibustion Robot Arm Based on Fuzzy PID Control

作　　者：陈蔓林 岳靖 曹栩睿 彭学健 黄治铭 李丹[1] CHEN Manlin;YUE Jing;CAO Xurui;PENG Xuejian;HUANG Zhiming;LI Dan(Chengdu College of University of Electronic Science and Technology of China,Chengdu,Sichuan,610000,China)

机构地区：[1]电子科技大学成都学院,四川成都610000

出　　处：《智能城市应用》2025年第4期80-83,共4页Smart City Application

摘　　要：随着医疗技术的进步,医用机械臂越来越广泛地应用于手术、康复等领域,以STM32F405RGT6芯片为主控核心,实现艾灸机械臂控制系统的设计。该系统采用模块化设计,包括主控模块,驱动模块,传感模块,人机交互模块。采用PID模糊控制,传感器高精度控温调节,利用OpenCV实现AI影像分析,实现三种穴位选择和艾灸手法模拟,同时加入艾烟净化系统,实现环保与个性化需求的双优结合。With the advancement of medical technology,medical robotic arms are increasingly widely used in fields such as surgery and rehabilitation.The STM32F405RGT6 chip is used as the main control core to design the control system for moxibustion robotic arms.The system adopts a modular design,including a main control module,a driver module,a sensing module,and a human-computer interaction module.Adopting PID fuzzy control,high-precision temperature control adjustment of sensors,utilizing OpenCV to achieve AI image analysis,realizing three types of acupoint selection and moxibustion technique simulation,while adding moxa purification system,achieving a dual optimization combination of environmental protection and personalized needs.

关 键 词：STM32f405RGT6芯片 主控模块 电机驱动模块 传感模块 OPENCV AI影像分析 

分 类 号：TP789[自动化与计算机技术—检测技术与自动化装置]