Trajectory Planning And Design Of Control System For Perimodiolar Electrode Arrays Implant Robot

With the rapidly development of robot motion control technology,the functional characteristics of medical robots are continuously improved and successfully applied to clinical practice.The precise positioning,force control and high-resolution sensing capability of medical robots can effectively assist doctors in performing surgery,effectively improving the efficiency of surgery and reducing the risk of surgery.The design of motion control system is the core of medical robot control performance.This paper mainly realizes the design of trajectory planning and control system for perimodiolar electrode arrays implanted robot.The main research contents are as follows:(1)The establishment and analysis of the kinematic model of the perimodiolar electrode arrays implanted robot.The degree of freedom of robot is analyzed by spiral theory.The kinematics mathematical model of robot is established.The singularity of robot is analyzed by Jacobian matrix.Finally,the correctness of kinematics is verified by MATLAB and ADAMS Co-simulation.A reachable motion space based on the Monte Carlo fast search method is designed to determine the specific structural parameters of the perimodiolar electrode arrays implant robot,which provides a theoretical basis for the motion control of the perimodiolar electrode arrays implanted robot.(2)Research on Cartesian space trajectory planning and interpolation algorithm.Combined with the irregularity of the motion trajectory given in the actual perimodiolar electrode arrays implant surgery,the NURBS curve with continuity is used to fit the given motion teaching point,and the motion path trajectory that accurately reaches the given teaching point is designed.Using the data sampling interpolation algorithm to solve the real-time interpolation motion of the perimodiolar electrode arrays implantation path,the symmetric S-type acceleration/deceleration speed planning algorithm is used to carry out the speed constraint control at the beginning and end positions.(3)The design of the overall scheme of the perimodiolar electrode arrays implanted robot motion control system.A low-cost,modular and flexible multi-axis motion control system is designed on the ARM main control board combined with ?C/OS-III real-time system.The LwIP protocol stack and file system FatFs are transplanted,and the communication driver is designed.Interpolation algorithm application.(4)Perimodiolar electrode implantation robot trajectory planning experiment.Experiments show that the motion control system can meet the requirements of real-time performance,the data communication between each module is stable,the robot can accurately reach a given teaching point,and the motion trajectory achieves a smooth transition at a large curvature.The running speed of the robot is consistent with the planned speed,and the trajectory of each driving joint is continuous and smooth.