| With the continuous development of Electronic Science and technology, the automation of all walks of life has been improved.In the medical field, the robot has been applied to minimally invasive surgery to automate the operation, not only bringing the liberation of the hands, but also avoiding the manual puncture error due to inaccurate judgment and human hands trembling.it makes the operation more precise, achieves more high the success rate, and has very important research meaning at present in which people maintain high expectations for the level of medical treatment.In order to achieve the function of automatic target location in the puncture operation, the position control system is designed by using the motion control system.From the system function structure and the design of the hardware and software control, the paper makes a detailed design, which can finally realize the precise positioning.The main work and results are as follows:Frist, Completed the design of the auxiliary positioning system. The functional framework of the whole positioning motion control system is designed; The manipulator with 6 degrees of freedom is designed as the positioning mechanism; The hybrid stepping motor is selected as the actuator and the photoelectric rotary encoder as the position detecting element. Built the hardware platform.Second, the kinematic model of the positioning manipulator is designed. Based on the kno--ledge of robot kinematics, the POE model of the manipulator is modeled, and the forward and inverse kinematics equations are obtained; The correctness of the model is verified by software simulation;The rectangular space of the wrist of the manipulator is 270mm*175mm*200mm a--nd the cuboid space of effective planning space 906mm* 175mm*577.5mm is obtained.Third, the design of control software is based on the idea of modular design.The design and implementation of the functional modules include: serial communication, position control,encoder feedback signal processing, reset.Fourth, tested the positioning function of the system. Through the experiment of the positioning system with DSP as the control core, the correctness of the control software is verified. Through the PC host computer, the position coordinate system is sent to the DSP by randomly setting position coordinates, and the parameters of the hardware and software are optimized to optimize the control parameters and improve the location accuracy. |
