Multi-axis Motion Control System For Surgical Robot Design And Research

Fro m the trend of medical robot development, t he medical robot ic techno logy is developing rapidly with the update of motion contro l, co mputer techno logy and other technologies. Medical robot can help doctors co mplete surgery to reduce manual labor and reduce surgical risk. In this program, a robot contro l system based on medical robots was designed, which notably include the fo llowing aspects.First robot kinematics modeling and analysis was done. D-H method was used to build coordinate system, then got 6-axis robot link parameter list. Then the posit ive kinemat ics solut ion and inverse solut ion of robot can be figured out. Considering the inverse so lution may have mult iple sets of so lution, the best way is using energy minimizat ion method to select the optimal inverse solut ion.The kinemat ics algorithm and the trajectory planning algorithm research ing are co mpeleted. According to different applicat ion, t rajectory planning method based on exact reaching po ints and approximately fitting po ints are designed. While the former is takeing advantage of line or curve to program the t rajectory. The way of approximately fitt ing po ints can improve system’s effiency. Planning of circular arc transit ion path which is applied in kinemat ic at low speed and calculat ion based on cubic spline function model at high speed. This method can meet the needs o f kinemat ic accuracy and high effiency.The robot control system was designed, including hardware and software systems. In the designing o f hardware systems, ARM9 development board selected as the main control board, the LXM32 A servo series selected as slaver systems. The co mplet ion o f CANopen communicat ion design, kinemat ics and contro l program are main three parts o f software designing. Kinematic contro l program calls program interface to complete single-axis movement o f the robot, and mult i-axis navigation and other functions.Experiment and test on this control system and analyzed experimental results and validate the reliabilit y of the system. The main projects include uniaxial testing exercise test ing, mult i-axis test ing, navigat ion and positioning test ing and test drilling screw channel operation. By co mbinat ion with funct io n request of robot,this desiged contro l system can realize precise locat ion in universe and the drill funct ion as desired trajectory as well.