Design On Control System Of Five Degrees Of Freedom Prostate Biopsy Robot

At present, the rapid development of robot technology, robot in industry,agriculture, aerospace and other fields has been a wide range of applications.Medical robot development has become a hot topic in today`s world in the field ofrobotics research. In this way, this topic for prostate biopsy technique, design anddevelopment on control motion system of the prostate biopsy robot. The motionsystem with simple operation, precise positioning and low cost performancecharacteristics, Not only in some extent reduce the workload of doctors, but also toimprove the detection rate of prostate cancer. The main contents of this paper are asfollows:Firstly, analyze of the structural characteristics of the five DOF prostate biopsyrobot body, establish the kinematic model of the robot. According to D-H methodand kinematics knowledge to establish forward kinematics model, Obtained theconversion of joint space and work space. And establish inverse kinematics model toobtain the implicit solution.Secondly, analyze of the system`s speed, accuracy and control requirements,adopt the control program on PC and PMAC. Analyze the control principle of PMAC,select motor drive and limit switch to make the system of the prostate biopsy robotcomplete.Next, design of the software system based on the idea of modular, the controlsystem is divided into six modules. Using Visual C++and call Pcomm32dynamiclink library to complete the control for the prostate biopsy robot.At last, PID servo loop regulating system is introduced to the control system.After detection the dynamic characteristics of the motion mechanism, set up theexperimental platform of the robot. By experimental, comparison the position of theactual movement and the location specified to get error, analyze the reasons of theerror occurred, Results show that design on the control system of the robot meet the reliability and accuracy requirements.