Control System Study Of A New Type Of Minimally Invasive Surgery Robot

master-slave integrated minimally invasive surgery robot and the characteristics of master manipulator and slave manipulator, combined with minimally invasive surgery requirements, taking PMAC as core, the dissertation finally designed the master-slave control system. The following aspects in the dissertation have been achieved:1) Introduction of robotic structure and study of control algorithm. After analyzing the requirements of minimally invasive surgery, considering the characteristics of the robot, the kinematics model for both the master and slave manipulator using D-H method was established, and analyzed the kinematics which are the theory basis of control algorithm. Then, the relationship between master and slave manipulator has been built using three control strategies: the consistency control, manipulator-reposition control and proportional control. Through the configuration change of the two different operation platforms, the method of building the master-slave space mapping has been established. Thus, the master-slave motion control mode was finally realized2) Software and hardware design. We designed a motion control program through PC with motion control card mode, and then taking the PMAC card as core of control platform. For the hardware part, the requirement of control function was firstly analyzed , the equipment’s collocation and type selection have been introduced, the main circuitry of robot system was also presented. Then the realization of the motion control by using hardware was briefly analyzed. The software of robot was divided into three layers, and therefore the function of each layer was established. With the multi-built-in function of PMAC, we designed the motion program and PLC program of the robot. The performance was improved by debugging the PID parameter and velocity/acceleration feed-forward gain. At last, from the point of safety operation, the safety technology based on trajectory planning was analyzed.3) Experiment of control performances. Through the comparison between Matlab simulation and prototype operational experiment, the robot’s function including the availability of proposed algorithm, real-time property and the flexibility of operation were tested and analyzed. The experimental results showed that the robot’s performance is good and has the ability to meet the requirement of minimally invasive surgery operation.