Design And Algorithm Study Of Multi-axis Synchronous Motion Contorl System

In modern society, the role of robots is very important and robots have a very wide range of applications. In particular, medical robots play a vital role in assisted surgery. The future market of robots will be very broad. For medical robots they can help doctors to make better medical procedures and improve the efficiency and success rate of surgery. Thus, much attention has been paid to the higher precision and higher flexibility of the medical robot. The control system and control algorithm of the robots is the key of the research. In this paper, the content of the following aspects is mainly studied to design the control system of medical robots.The first part is the robot kinematics modeling. Use classic D-H modeling method to obtain D-H parameter table and establish homogeneous transformation matrixes of adjacent joints. With the parameter table, inverse kinematics solutions are calculated based on the matrixes. There exist multiple sets of solution, and then the paper proposes the method based on the principle of minimum energy to select the optimal solution.The second part is to design the robot control algorithm. It focuses on the trajectory planning algorithm which is divided into joint space and Cartesian space. In Cartesian space, the algorithms of linear path planning and circular path planning are mainly studied and the cubic spline curve control algorithm is proposed.The third part is the design of the robot control system which includes hardware and software design. According to the common practice in the field of motion control, the software design can be divided into PC application design and control program design. PC is responsible for developing the user interface and sending command informations to controller while the motion controller LMC058 is responsible for receiving instructions and driving motor. This section focus on the motion control program of the LMC058 controller which can be divided into three parts, communication program, kinematics program and PLC control program. The aim is to control the robot completing the single-axis motion, multi-axis synchronized motion, navigation motion, dragging motion. Based on the electronic cam, six-axis synchronization control scheme is achieved in PLC control program.The last part is the test of control system. The reliability of the control system, the accuracy of motion and the feasibility of the motion control algorithm are verified in the test.The projects include multi-axis synchronized motion test, navigation and positioning test and drilling screws tract surgery test.